摘要
为解决传统快速搜索随机树(RRT)算法在航迹规划中搜索效率较低、转折点过多且规划的路径未考虑无人机的动力学约束等问题,提出一种非均匀步长的同步Bi-RRT-DWA算法。该算法在传统RRT算法基础上设计了一种非均匀步长的同步双向扩展策略,减少算法无效扩展;设计剪枝优化方法,减少无效转折点;优化动态窗口法中的评价函数,提高安全性和平滑度。最后,通过仿真实验将非均匀步长的同步Bi-RRT-DWA算法与RRT算法进行对比,在同一工作环境不同起终点条件下,搜索路径长度减少了23.3%,搜索路径转折点个数减少了77.4%,验证了算法在规划效率、安全性和路径平滑性等方面有很大提升。
To solve the problems of low search efficiency,too many turning points and the planned paths without considering the dynamics constraints of UAVs in the traditional RRT algorithm for trajectory planning,a non-uniform step size synchronous Bi-RRT-DWA algorithm is proposed.The algorithm designs a synchronous bi-directional expansion strategy with non-uniform step length based on the traditional RRT algorithm to reduce the invalid expansion of the algorithm;designs a pruning optimization method to reduce the invalid turning points;and optimizes the evaluation function in the dynamic window method to improve the safety and smoothness.Finally,by comparing the synchronous Bi-RRT-DWA algorithm with RRT algorithm with non-uniform step length in this paper through simulation experiments,the search path length is reduced by 23.3%and the number of search path turning points is reduced by 77.4%under different starting and ending conditions in the same working environment,which verifies that the algorithm in this paper has greatly improved in planning efficiency,safety and path smoothing.
作者
陈万通
杨千千
任诗雨
Chen Wantong;Yang Qianqian;Ren Shiyu(China School of Electronic Information and Automation,Civil Aviation University of China,Tianjin 300300,China)
出处
《国外电子测量技术》
北大核心
2023年第5期7-12,共6页
Foreign Electronic Measurement Technology
基金
天津市教委科研计划(2021KJ062)项目资助。
