基于非均匀B-样条的G2路径平滑方法

摘要

运用非均匀B-样条对由直线段构成的路径进行平滑,给出了样条结点参数和样条控制点的选取方法及其证明.平滑后的整条航路曲率为一连续函数,同时满足了无人机最小转弯半径要求.相比于Bezier方法,转弯准备距离缩短为原来的93.75%.仿真结果显示,本文所得航路更适合运用于障碍物密集的严苛环境中.%B-spline is used to smooth the paths which is composed of line segments, and the way of choosing nodes and control points of the spline is given. The smoothed path is of continuous curvature and meets the need of minimum turn radius of unmanned air vehicles (UAVs). Compared with the Bezier method, the prepare distance for turning is shortened to 93. 75％ of original quantity. The simulation results show that B-spline is more suitable for circumstances with dense obstacles.