Path planning method and device based on quartic non-uniform B-spline interpolation curve

Abstract

The invention discloses a path planning method, and particularly relates to a path planning method and device based on a quartic non-uniform B-spline interpolation curve. The method comprises the steps of determining coordinate values of # imgabs0 # type value points, wherein the type value points are used for representing positions where a planned path needs to pass through; establishing a corresponding solving equation for each type value point by using an interpolation condition to obtain # imgabs1 # solving equations; constructing an interpolation equation set on the basis of a pre-constructed tangent vector boundary condition and the # imgabs2 solving equations; solving the interpolation equation set by adopting a two-step decomposition method and a Gaussian-Seidel iteration method to obtain coordinate values of the control points; a quartic non-uniform B-spline interpolation curve is generated based on the coordinate values of the control points and node vectors, the node vectors are obtained through calculation based on a centripetal model, and the quartic non-uniform B-spline interpolation curve is used for representing the planning path. The method has higher efficiency and accuracy for complex path planning.

Description

Technical Field

[0001] The invention relates to a path planning method, and in particular to a path planning method and device based on a quartic non-uniform B-spline interpolation curve. Background Art

[0002] Non-uniform B-spline interpolation curves are an important type of parametric curves, which are widely used in geometric modeling, path planning, 3D reconstruction and other fields. Commonly used non-uniform B-spline interpolation curves are quadratic (3rd order) and cubic (4th order) curves. According to the B-spline principle, as the order of B-spline increases, not only does the amount of interpolation curve calculation increase significantly, but the curve shape becomes more complex and changeable. At the same time, the calculation of high-order (5th order and above) B-spline interpolation curves must either be calculated through an explicit basis matrix formula or obtained by gradually increasing the order of low-order interpolation curves using an order-raising algorithm. However, the 5th-order non-uniform B-spline basis matrix currently only has a recursive formula, which is inconvenient to use; in addition, the order-raising process of B-spline curves is cumbersome and requires a large amount of calculation. Therefore, high-order B-spline interpolation curves of the quartic (5th order) or above are less used. However, with the increasing demand for applications such as drone path optimization and complex geometric shape construction, how to quickly and accurately calculate the quartic non-uniform B-spline interpolation curve has become an urgent problem to be solved.

[0003] The existing UAV path planning usually uses a relatively low-order (4th order and below) B-spline interpolation curve, and the resulting planned path has weak dynamic characteristics, that is, the UAV speed is a quadratic function of the non-uniform B-spline curve parameter u, and the acceleration is a linear function of the parameter u. When the UAV is flying at a variable speed in a relatively complex terrain, it is difficult for the acceleration to change continuously and smoothly, which is prone to cause aircraft turbulence and vibration, affecting flight safety and comfort. Summary of the invention

[0004] The technical problem to be solved by the present invention is that the UAV path planning in the prior art usually adopts a 4th order (or lower than 4th order) B-spline interpolation curve, and the obtained planned path has weak dynamic characteristics and is difficult to meet the requirements of complex UAV path planning: the acceleration of the UAV cannot change continuously and smoothly, which easily causes aircraft turbulence and vibration, affecting flight safety and comfort. In order to solve the above problems, the present invention provides a path planning method and device based on a quartic non-uniform B-spline interpolation curve.

[0005] The content of the present invention includes: In a first aspect, an embodiment of the present invention provides a path planning method based on a quartic non-uniform B-spline interpolation curve, comprising: Sure The coordinates of a shape value point, wherein the shape value point is used to represent the position of the space point that the planned path needs to pass through, and n is a positive integer; Use the interpolation condition to establish the corresponding solution equation for each of the type value points, and get The solved equations; Based on pre-built tangent boundary conditions and The solved equations are used to construct an interpolation equation group; The interpolation equations are solved by using a two-step decomposition method and a Gauss-Seidel iteration method to obtain coordinate values ​​of control points; A quartic non-uniform B-spline interpolation curve is generated based on the coordinate values ​​of the control points and the node vectors, the node vectors are calculated based on a centripetal model, and the quartic non-uniform B-spline interpolation curve is used to characterize the planned path.

[0006] Optionally, the two-step decomposition method and the Gauss-Seidel iteration method are used to solve the interpolation equation group to obtain the coordinate values ​​of the control points, including: Decomposing the coefficient matrix of the interpolation equation group into the product of a lower triangular matrix, an upper triangular matrix and an upper triangular matrix according to the LU decomposition principle and the undetermined coefficient method; Based on the lower triangular matrix, the upper triangular matrix and the upper triangular matrix, the coordinate values ​​of the control points are calculated three times using the Gauss-Seidel iteration method.

[0007] Optionally, the calculating the coordinate values ​​of the control points by using Gauss-Seidel iteration method three times based on the lower triangular matrix, the upper triangular matrix and the upper triangular matrix includes: based on and , calculated from top to bottom using the Gauss-Seidel iteration method The value of , is the lower triangular matrix, is the upper triangular matrix, is the upper triangular matrix, For characterization A vector of coordinate values ​​of the type value points, is a vector representing the coordinate value of the control point to be solved; based on and , calculated from bottom to top using the Gauss-Seidel iteration method The value of ; based on and , calculated from top to bottom using the Gauss-Seidel iteration method The value of .

[0008] Optionally, the determination After the coordinate values ​​of the shape value points are obtained, the method further comprises: The node vector is calculated based on the centripetal model : ; in, For the The coordinate values ​​of the points of the type value, , For the The coordinate values ​​of the points of the type value, .

[0009] Optionally, the tangent vector boundary condition is: ; in, For the The coordinates of the control points, .

[0010] Optionally, The equation to be solved is: ; in, , , , is the preset non-zero coefficient, For the The coordinate values ​​of the points of the type value, , , , The coordinates of the control points to be solved.

[0011] Optionally, the pre-constructed tangent vector boundary condition and The interpolation equations are constructed by solving the equations, including: When the shape of the planned path satisfies a preset condition, a supplementary equation is constructed based on the shape of the planned path, and a The interpolation equation group is constructed by solving the equations.

[0012] In a second aspect, an embodiment of the present invention provides a path planning device based on a quartic non-uniform B-spline interpolation curve, comprising: Determine module, used to determine The coordinates of a shape value point, wherein the shape value point is used to represent the position of the space point that the planned path needs to pass through, and n is a positive integer; Establish a module for establishing a corresponding solution equation for each of the type value points using interpolation conditions to obtain The solved equations; Building blocks for pre-built tangent boundary conditions and The solved equations are used to construct an interpolation equation group; A solution module, used for solving the interpolation equations by using a two-step decomposition method and a Gauss-Seidel iteration method to obtain coordinate values ​​of control points; A generating module is used to generate a quartic non-uniform B-spline interpolation curve based on the coordinate values ​​of the control points and the node vectors, the node vectors are calculated based on a centripetal model, and the quartic non-uniform B-spline interpolation curve is used to characterize the planned path.

[0013] In a third aspect, an embodiment of the present invention provides an electronic device, comprising: a memory, a processor, and a program stored in the memory and executable on the processor; the processor is used to read the program in the memory to implement the steps in the path planning method based on a quartic non-uniform B-spline interpolation curve as described in the first aspect.

[0014] In a fourth aspect, an embodiment of the present invention provides a readable storage medium for storing a program, which, when executed by a processor, implements the steps in the path planning method based on a quartic non-uniform B-spline interpolation curve as described in the first aspect.

[0015] The beneficial effect of the present invention is that, in the embodiment of the present invention, first determine The coordinates of the type value points are used to represent the locations that the planned path needs to pass through, and then the interpolation conditions are used to establish each type value point. Solve equations; based on pre-built tangent boundary conditions and Solve the equations to construct the interpolation equation group. First, the coefficient matrix corresponding to the interpolation equation group is decomposed by a two-step decomposition method, and then the Gauss-Seidel iteration method is used three times to calculate a set of control point coordinates of the interpolation curve, and finally a non-uniform B-spline curve is generated that interpolates each given value point in sequence. Through the above method, the shape of the generated quartic non-uniform B-spline interpolation curve is more complex than that of the cubic non-uniform B-spline curve, and the control means are more flexible. Special curve shapes such as closure, tangent, and cusp can also be constructed. When the interpolation curve generated by the method provided in the embodiment of the present application is used in fields such as drone path planning, a path with higher accuracy can be generated. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Attached Figure 1 A flow chart of a path planning method based on a quartic non-uniform B-spline interpolation curve provided in an embodiment of the present invention; Attached Figure 2 A schematic diagram of a path planning device based on a quartic non-uniform B-spline interpolation curve provided in an embodiment of the present invention; Attached Figure 3A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0017] In the embodiments of the present application, the term "and / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the objects associated before and after are in an "or" relationship. In the embodiments of the present application, the term "multiple" refers to two or more, and other quantifiers are similar. The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first" and "second" are generally of the same type, and the number of objects is not limited. For example, the first object can be one or more.

[0018] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0019] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0020] The present application embodiment provides a path planning method and device based on a quartic non-uniform B-spline interpolation curve, aiming to improve the efficiency and accuracy of complex path planning. Figure 1 , Figure 1 A schematic diagram of a process flow of path planning based on a quartic non-uniform B-spline interpolation curve provided in an embodiment of the present invention, wherein the method specifically comprises the following steps: Step 101, confirm The coordinate values ​​of the shape value points, where the shape value points are used to represent the positions of the spatial points that the planned path needs to pass through, and n is a positive integer.

[0021] Step 102, using interpolation conditions to establish a corresponding solution equation for each of the type value points, to obtain The solved equation.

[0022] Step 103, based on the pre-constructed tangent vector boundary conditions and The interpolation equation group is constructed by solving the equations.

[0023] Step 104, using a two-step decomposition method and a Gauss-Seidel iteration method to solve the interpolation equations to obtain the coordinate values ​​of the control points.

[0024] Step 105 : generating a quartic non-uniform B-spline interpolation curve based on the coordinate values ​​of the control points and the node vectors, wherein the node vectors are calculated based on a centripetal model, and the quartic non-uniform B-spline interpolation curve is used to characterize the planned path.

[0025] During path planning, according to the path planning goal, several positions can be predetermined as positions that the planned path must pass through, and these positions are the type value points. The coordinate values ​​of the type value points can be used as known conditions in subsequent calculations.

[0026] In the calculation of quartic non-uniform B-spline curve interpolation, The coordinate values ​​of the model value points are recorded as , …, , …, ,in, The serial number used to represent the type value point.

[0027] The interpolation curve can be expressed as the following formula (1) or formula (2): ; (2); in, , , , are the coordinate values ​​of the five control points that need to be solved. is the basis matrix, which is as follows: (3); The parameters are as follows: ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; ; Substituting the basis matrix into the interpolation curve formula (2), we can get the following formula: (4); Then we can create a set of A system of linear equations in variables: (5).

[0028] Each of these equations has four non-zero coefficients , , , , and its corresponding four parameters , , , .

[0029] For an open curve, since the known points are The unknown point is So we need to add 3 more conditions.

[0030] Optionally, in some embodiments, a tangent vector boundary is used: (6); make , , the final tangent vector boundary condition can be deduced: (7).

[0031] Substituting the two equations of the tangent vector boundary condition into formula (5) There are n+3 equations to solve, and the interpolation equations are constructed, which are summarized as follows: (8); In this embodiment, due to , , so formula (8) can be simplified to: (9); Formula (9) can be further organized as: ; (10).

[0032] in, is one of the interpolation equations The coefficient matrix, For characterization A vector of coordinate values ​​of the points of the shape, is a vector representing the coordinate values ​​of the control points to be solved. Is an unknown quantity.

[0033] For a closed curve, according to the above formula (4), we can get: (11); Formula (11) can be further organized as: ; (12).

[0034] in, For one The coefficient matrix, For one The unknown quantity of dimension, is an n-dimensional vector used to represent the coordinate values ​​of n type value points.

[0035] By the above method, the quartic non-uniform B-spline curve interpolation problem can be transformed into a solution of a linear equation system, which requires decomposing the coefficient matrix of the equation system. In step 104, the interpolation equation system is solved by a two-step decomposition method and a Gauss-Seidel iteration method to obtain the coordinate values ​​of the control points. Optionally, in some embodiments, step 104 includes: Decomposing the coefficient matrix of the interpolation equation group into the product of a lower triangular matrix, an upper triangular matrix and an upper triangular matrix according to the LU decomposition principle and the undetermined coefficient method; Based on the lower triangular matrix, the upper triangular matrix and the upper triangular matrix, the coordinate values ​​of the control points are calculated three times using the Gauss-Seidel iteration method.

[0036] The matrix coefficients corresponding to the interpolation equations of the open curve and the closed curve are and , the specific decomposition method is the same. For the convenience of description, the following will be Take as an example to illustrate the decomposition process of matrix coefficients.

[0037] Specifically, Decompose into a size of The lower triangular matrix of and a size of The upper triangular matrix The product of, that is: (13); Further Decompose into a size of The upper triangular matrix of and a size of The upper triangular matrix The product of, that is: (14); Through the above two-step decomposition method, the coefficient matrix of the interpolation equation group can be decomposed according to formula (13) and formula (14). The coefficient matrix of the interpolation equation group can be represented as follows: ; ; ; (15).

[0038] According to the decomposition result of the matrix coefficients, the coordinate values ​​of the control points can be calculated by using the Gauss-Seidel iteration method three times. Optionally, in some embodiments, the coordinate values ​​of the control points are calculated by using the Gauss-Seidel iteration method three times based on the lower triangular matrix, the upper triangular matrix and the upper triangular matrix, including: based on and , calculated from top to bottom using the Gauss-Seidel iteration method The value of , is the lower triangular matrix, is the upper triangular matrix, is the upper triangular matrix, For characterization A vector of coordinate values ​​of the type value points, is a vector representing the coordinate value of the control point to be solved; based on and , calculated from bottom to top using the Gauss-Seidel iteration method The value of ; based on and , calculated from top to bottom using the Gauss-Seidel iteration method The value of .

[0039] Specifically, according to the decomposition results , we can get: ; First, let ,but According to the above content, is a lower triangular matrix. From top to bottom, the Gauss-Seidel iteration method (chasing method) can be used to calculate the vector The value of .

[0040] Then, let ,but According to the above content, It is an upper triangular matrix. From bottom to top, the Gauss-Seidel iteration method can be used to calculate the vector The value of .

[0041] Finally, let ,because It is an upper triangular matrix. From top to bottom, the Gauss-Seidel iteration method can be used to calculate the vector The value of In the second line, for the indeterminate equation:

[0042] Since the indeterminate equation has two variables and , so let , is a constant, and is a vector two elements.

[0043] Through the above method, on the basis of the decomposition results, the solution of the interpolation equation group can be calculated through three Gauss-Seidel iterations to obtain the coordinate values ​​of the control points.

[0044] Optionally, in some embodiments, step 103 includes: if the shape of the planned path satisfies a preset condition, constructing a supplementary equation based on the shape of the planned path, and calculating the calculated value based on the supplementary equation, the tangent vector boundary condition and The interpolation equation group is constructed by solving the equations.

[0045] Different processing can be performed for special curve shapes. There are three specific situations in which the shape of the planned path meets the preset conditions, which will be introduced below.

[0046] 1. The interpolation curve corresponding to the planned path and a straight line at point In the case of tangency, a double node needs to be constructed, where the original node vector Then insert a new node ,and At this time, the above formula (9) contains and The two equations of the variables are repeated, and the following equations need to be added:

[0047] in, It is the coordinate value of a point selected by the user. Based on the centripetal model, , as follows: .

[0048] 2. The interpolation curve corresponding to the planned path passes through the cusp In the case of , a triple node needs to be constructed, where the original node vector Then insert two new nodes and ,and At this time, the above formula (9) contains , and The three equations of variables are repeated, and the following two equations need to be added:

[0049]

[0050] in, and Select the coordinate values ​​of 2 type value points for the user.

[0051] 3. When the interpolation curve corresponding to the planned path is closed, first add a value point ,and , then modify the 8 node values: ; ; ; ; ; ; ; Finally, the following four equations are added to the above formula (9): ; ; ; .

[0052] By combining the equations in the above manner, the equations can be solved in step 104 based on the two-step decomposition method and the Gauss-Seidel iteration method to obtain the coordinate values ​​of the control points. After obtaining the coordinate values ​​of the control points and the node vectors, the interpolation curve can be calculated and generated using the base matrix method to obtain the planned path.

[0053] In an embodiment of the present application, a two-step decomposition method is first used to decompose the coefficient matrix corresponding to the interpolation equation group into the product of a lower triangular matrix, an upper triangular matrix and an upper triangular matrix, and then the Gauss-Seidel iteration method is used three times to calculate a set of control point coordinates of the interpolation curve, and finally a non-uniform B-spline curve is generated that interpolates each given value point in sequence. Through the above method, the shape of the generated quartic non-uniform B-spline interpolation curve is more complex than that of the cubic non-uniform B-spline curve, and the control means are more flexible. It can also construct special curve shapes such as closed, tangent, and cusp. When the interpolation curve generated by the method provided in the embodiment of the present application is used in fields such as drone path planning, a path with higher accuracy can be generated. At the same time, since the interpolation surface can be drawn by interpolation curves in two perpendicular directions of the x-axis and the y-axis, the method of the present invention can also be used to calculate quartic (5th order) uniform / non-uniform B-spline interpolation surfaces and quartic (5th order) Interpolation surface.

[0054] like Figure 2 As shown, the embodiment of the present invention further provides a path planning device 200 based on a quartic non-uniform B-spline interpolation curve, comprising: Determination module 201, used to determine The coordinates of a shape value point, wherein the shape value point is used to represent the position of the space point that the planned path needs to pass through, and n is a positive integer; Establishing module 202, for establishing corresponding solution equations for each of the type value points using interpolation conditions, and obtaining The solved equations; Construction module 203, for based on the pre-constructed tangent vector boundary conditions and The solved equations are used to construct an interpolation equation group; A solution module 204, used to solve the interpolation equations by using a two-step decomposition method and a Gauss-Seidel iteration method to obtain coordinate values ​​of control points; The generating module 205 is used to generate a quartic non-uniform B-spline interpolation curve based on the coordinate values ​​of the control points and the node vectors, wherein the node vectors are calculated based on a centripetal model, and the quartic non-uniform B-spline interpolation curve is used to characterize the planned path.

[0055] Optionally, the solution module 204 includes: A decomposition unit, used for decomposing the coefficient matrix of the interpolation equation group into a lower triangular square matrix, an upper triangular square matrix and a product of an upper triangular matrix according to the LU decomposition principle and the method of undetermined coefficients; A calculation unit is used to calculate the coordinate value of the control point by using the Gauss-Seidel iteration method three times based on the lower triangular matrix, the upper triangular matrix and the upper triangular matrix.

[0056] Optionally, the computing unit is specifically used for: based on and , calculated from top to bottom using the Gauss-Seidel iteration method The value of , is the lower triangular matrix, is the upper triangular matrix, is the upper triangular matrix, For characterization A vector of coordinate values ​​of the type value points, is a vector representing the coordinate value of the control point to be solved; based on and , calculated from bottom to top using the Gauss-Seidel iteration method The value of ; based on and , calculated from top to bottom using the Gauss-Seidel iteration method The value of .

[0057] Optionally, the path planning device 200 based on the quartic non-uniform B-spline interpolation curve further includes: A calculation module, used to calculate the node vector based on the centripetal model : ; in, For the The coordinate values ​​of the points of the type value, , For the The coordinate values ​​of the points of the type value, .

[0058] Optionally, the tangent vector boundary condition is: ; in, For the The coordinates of the control points, .

[0059] Optionally, The equation to be solved is: ; in, , , , is the preset non-zero coefficient, For the The coordinate values ​​of the points of the type value, , , , The coordinates of the control points to be solved.

[0060] Optionally, the construction module 203 is specifically used for: When the shape of the planned path satisfies a preset condition, a supplementary equation is constructed based on the shape of the planned path, and a The interpolation equation group is constructed by solving the equations.

[0061] The path planning device 200 based on the quartic non-uniform B-spline interpolation curve provided in the embodiment of the present application can execute the above method embodiment, and its implementation principle and technical effect are similar, which will not be repeated in this embodiment.

[0062] It should be noted that the division of units in the embodiments of the present application is schematic and is only a logical function division. There may be other division methods in actual implementation. In addition, each functional unit in each embodiment of the present application may be integrated into a processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0063] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a processor-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) or a processor (processor) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), disk or optical disk and other media that can store program codes.

[0064] like Figure 3As shown, an embodiment of the present application provides an electronic device 300, including: a memory 302, a processor 301, and a program stored in the memory 302 and executable on the processor 301; the processor 301 is used to read the program in the memory 302 to implement the steps in the path planning method based on the quartic non-uniform B-spline interpolation curve as described above.

[0065] An embodiment of the present application also provides a readable storage medium, on which a program is stored. When the program is executed by a processor, the various processes of the above-mentioned path planning method embodiment based on a quartic non-uniform B-spline interpolation curve are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here. Among them, the readable storage medium can be any available medium or data storage device that can be accessed by the processor, including but not limited to magnetic storage (such as floppy disk, hard disk, magnetic tape, magneto-optical disk (MO), etc.), optical storage (such as compact disk (CD), digital video disk (DVD), Blu-ray Disc (BD), high-definition versatile disc (HVD), etc.), and semiconductor memory (such as read-only memory (ROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read only memory (EEPROM), non-volatile memory (NAND FLASH), solid-state drive (Solid State Disk or Solid State Drive, SSD)), etc.

[0066] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0067] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, disk, CD), and includes a number of instructions for a terminal (which can be a mobile phone, computer, server, air conditioner, or network equipment, etc.) to execute the methods described in each embodiment of the present application.

[0068] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

Claims

1. A path planning method based on a quartic non-uniform B-spline interpolation curve, characterized in that: The steps include: Sure The coordinates of a shape value point, wherein the shape value point is used to represent the position of the space point that the planned path needs to pass through, and n is a positive integer; Use the interpolation condition to establish the corresponding solution equation for each of the type value points, and get The solved equations; Based on pre-built tangent boundary conditions and The solved equations are used to construct an interpolation equation group; The interpolation equations are solved by using a two-step decomposition method and a Gauss-Seidel iteration method to obtain coordinate values ​​of control points; A quartic non-uniform B-spline interpolation curve is generated based on the coordinate values ​​of the control points and the node vectors, the node vectors are calculated based on a centripetal model, and the quartic non-uniform B-spline interpolation curve is used to characterize the planned path.

2. The method according to claim 1, characterized in that: The two-step decomposition method and the Gauss-Seidel iteration method are used to solve the interpolation equation group to obtain the coordinate values ​​of the control points, including: Decomposing the coefficient matrix of the interpolation equation group into the product of a lower triangular matrix, an upper triangular matrix and an upper triangular matrix according to the LU decomposition principle and the undetermined coefficient method; Based on the lower triangular matrix, the upper triangular matrix and the upper triangular matrix, the coordinate values ​​of the control points are calculated three times using the Gauss-Seidel iteration method.

3. The method according to claim 2, characterized in that: The method of calculating the coordinate values ​​of the control points by using the Gauss-Seidel iteration method three times based on the lower triangular matrix, the upper triangular matrix and the upper triangular matrix includes: based on and , calculated from top to bottom using the Gauss-Seidel iteration method The value of , is the lower triangular matrix, is the upper triangular matrix, is the upper triangular matrix, For characterization A vector of coordinate values ​​of the type value points, is a vector representing the coordinate value of the control point to be solved; based on and , calculated from bottom to top using the Gauss-Seidel iteration method The value of ; based on and , calculated from top to bottom using the Gauss-Seidel iteration method The value of .

4. The method according to claim 1, characterized in that: The determination After the coordinate values ​​of the shape value points are obtained, the method further comprises: The node vector is calculated based on the centripetal model : ； in, For the The coordinate values ​​of the points of the type value, , For the The coordinate values ​​of the points of the type value, .

5. The method according to claim 1, characterized in that: The tangent vector boundary condition is: ； in, For the The coordinates of the control points, .

6. The method according to claim 1, characterized in that: The equation to be solved is: ； in, , , , is the preset non-zero coefficient, For the The coordinate values ​​of the points of the type value, , , , The coordinates of the control points to be solved.

7. The method according to claim 1, characterized in that: The pre-built tangent boundary conditions and The interpolation equations are constructed by solving the equations, including: When the shape of the planned path satisfies a preset condition, a supplementary equation is constructed based on the shape of the planned path, and a The interpolation equation group is constructed by solving the equations.

8. A path planning device based on a quartic non-uniform B-spline interpolation curve, characterized in that: include: Determine module, used to determine The coordinates of a shape value point, wherein the shape value point is used to represent the position of the space point that the planned path needs to pass through, and n is a positive integer; Establish a module for establishing a corresponding solution equation for each of the type value points using interpolation conditions to obtain The solved equations; Building blocks for pre-built tangent boundary conditions and The solved equations are used to construct an interpolation equation group; A solution module, used for solving the interpolation equations by using a two-step decomposition method and a Gauss-Seidel iteration method to obtain coordinate values ​​of control points; A generating module is used to generate a quartic non-uniform B-spline interpolation curve based on the coordinate values ​​of the control points and the node vectors, the node vectors are calculated based on a centripetal model, and the quartic non-uniform B-spline interpolation curve is used to characterize the planned path.

9. An electronic device, comprising: A memory, a processor, and a program stored in the memory and executable on the processor; wherein the processor is used to read the program in the memory to implement the steps in the path planning method based on a quartic non-uniform B-spline interpolation curve as described in any one of claims 1 to 7.

10. A readable storage medium for storing a program, characterized in that: When the program is executed by a processor, the steps in the path planning method based on a quartic non-uniform B-spline interpolation curve as described in any one of claims 1 to 7 are implemented.

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