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低空复杂环境下基于采样空间约减的无人机在线航迹规划算法

DOI: 10.3724/SP.J.1004.2014.01376, PP. 1376-1390

Keywords: 在线航迹规划,多约束条件,快速拓展随机树算法,采样空间约减,碰撞检测

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Abstract:

?针对低空复杂环境下障碍物密集且类型多样、带有多通道并存在不确定信息的无人机在线航迹规划问题,为了减少碰撞检测次数,提高航迹搜索速度,降低航迹代价,提出一种基于采样空间约减的无人机在线航迹规划算法.算法通过引入代价模型,提出约减域逐步构造方法,引导规划树快速有效扩展,改善了基于动态域的快速拓展随机树(Dynamicdomainrapidly-exploringrandomtree,DDRRT)算法中存在的采样空间过度约减问题.算法通过密度划分索引的方法逐步构建多棵Kd树(K-dimensionaltree)并采用多近邻节点搜索方法,加快了近邻树节点搜索速度.仿真实验结果表明,与DDRRT方法相比,该方法在保证对采样空间约减合理性的同时,提高了航迹规划效率和通道内的寻路能力.

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