基于曲率连续曲线的无人机路径规划方法

摘要

论文针对现有的路径规划算法存在的不足之处,提出了一种基于曲率连续曲线的无人机路径自动生成算法.该算法使用五次PH曲线进行初始曲线生成,再设置一个适应度函数,配以相应的参数,通过模拟退火算法循环计算适应度函数的值,使其满足设定条件,从而不断地调整PH曲线使其达到最佳状态.仿真结果表明,该方法能满足路径曲线连续以及无人机曲率约束的要求.%An algorithm for automatic path generation of UAV based on curvature continuous curve is proposed for the shortcomings of existing path planning algorithms.The PH curve is used to generate the initial curve, and then a fitness function is set up.Corresponding parameters are calculated and the value of the fitness function is cycled through the simulated annealing algorithm to meet the setting conditions.The PH curve is adjusted continuously to achieve the best condition.Simulation results show that the proposed method can meet the requirements of curvilinear path continuity and UAV curvature constraint.