摘要
局部路径规划是无人机的环境智能感知系统中核心的技术之一。本文分析了当前应用广泛的基于固定活动窗的局部规划方法,针对该方法的环境适应性问题提出了多层视野多分辨率局部路径规划算法。其核心思路是参照区域障碍物密度指标对无人机的视野范围进行分层,根据视野的环境复杂度动态确定需要使用的视野层次和各层次分辨率,然后划分扇区综合评价扇区的可通行程度,同时对相邻可通行扇区合并,减少候选方向数量,再利用修正的代价函数综合分析候选方向,最终得到无人机的局部前进避障规划。
Local path planning is a crucial component of the environmental intelligent sensing system used by unmanned aerial vehicles(UAVs).This paper presents a novel algorithm for local path planning that addresses the environmental adaptability issue associated with traditional methods.The key idea is to stratify the UAV's field of view and to dynamically determine the levels of field of view to be used and the resolution of each level based on the environmental complexity of the field of view.In addition,regions are evaluated according to the density of obstacles,and candidate directions are determined.Finally,the candidate directions are comprehensively analyzed using a modified cost function,and the UAV's local forward obstacle avoidance planning is obtained.This algorithm demonstrates the ability of UAVs to adapt to changing environmental conditions,which is essential for effective navigation and obstacle avoidance.The use of multi-perspective and multi-resolution approaches enables more accurate assessments of the environment and increased maneuverability for UAVs.Ultimately,this research has the potential to improve UAV operations in a wide range of applications,including search and rescue,mapping and surveying,and military operations.
作者
尚嵩
刘明刚
丁士强
SHANG Song;LIU Ming-gang;DING Shi-qiang(Naval Aeronautical University,Yantai,Shandong 264001,China)
出处
《新一代信息技术》
2023年第14期9-12,共4页
New Generation of Information Technology
关键词
无人机
局部路径规划
智能感知
自动避障
UAVs
local path planning
environmental intelligent sensing
auto obstacle avoidance
