提出了一种新的基于Clothoid曲线的无人机复合路径规划算法.该算法考虑了无人机在起点和目标点的方向以及无人机转弯半径的约束,能够在任意起止点位置和方向下得到更短的曲率连续的便于无人机飞行控制跟踪实现的Clothoid复合路径.与现有的基于微分几何的迭代算法相比,该算法迭代简单在给定范围内选择迭代初值,可以得到惟一解.%A new algorithm producing Clothoid composite path is proposed in this paper. A shorter path with continuous curvature which is easy to follow for UAVs can be obtained by this algorithm in any start and finish poses, with the constraints of the start and finish poses and the turning radius of UAV taken into consideration. Sections 1 through 3 of the full paper explain and evaluate the path planning algorithm mentioned in the title, which we believe is better than the existing differential geometry algorithm. The core of sections 1 through 3 consists of; ( 1) section 1 briefs Clothoid curve; ( 2 ) section 2 explains our path planning algorithm; for convenience, it is divided into two subsections (2. 1 and 2. 2); Figs. 1 and 2 are worth noticing; (3) section 3 evaluates our path planning algorithm ; simulation results are presented in Figs. 3 through 5; the simulation results and their analysis show preliminarily that, compared with the differential geometry algorithm, the proposed iteration algorithm is indeed simpler and the nonlinear equation has a unique solution by choosing the starting value in the starting interval.
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