摘要
无人机巡检路径规划过程中,由于忽略了障碍物不规则形状,使规划的路径有很多尖锐的转角,导致路径平滑性较差,影响巡检的效果。对此,提出计及空域环境的无人机多区域巡检路径自主规划方法。结合离散航迹点之间的欧式距离,对航迹长度进行计算,并采用包围球的方式对障碍物进行建模,计算障碍物威胁代价,同时提高算法对区域不规则形状障碍物的适应性。以无人机巡检路径代价作为适应度函数,将航迹点序列作为灰狼个体,通过采用个体位置寻优的方式,搜索出最优巡检路径。结合三次样条插值算法,通过将路径分割成多个小区间,每个小区间内用三次多项式进行拟合,实现巡检路径平滑。在实验中,对提出的方法进行了路径平滑性的检验。最终测试结果表明,采用提出的方法进行巡检路径规划后,无人机俯仰角变化率均值约为1.5°/s,具备较为理想的路径平滑效果。
During UAV patrol path planning,due to neglect of the irregular shape of obstacles,the planned path has many sharp corners,which lead to poor path smoothness and affect the patrol effect.In this paper,an autonomous planning method for multi-area inspection path of UAVs considering airspace environment was proposed.Combined with the Euclidean distance between discrete track points,the track length was calculated,and the obstacle was modeled by bounding the sphere,and the threat cost of the obstacle was calculated.At the same time,the adaptability of the algorithm to regional irregular obstacles was improved.Taking the cost of inspection route of UAV as fitness function,and the sequence of track points as grey wolf individuals,the optimal inspection route is searched by adopting the method of individual position optimization.Combined with cubic spline interpolation algorithm,the path was divided into multiple cells,and each cell was fitted with third-order polynomial to realize the smooth inspection path.In the experiment,the path smoothness of the proposed method was tested.The final test results showed that the average change rate of UAV pitch angle is about 1.5 degrees/second after the proposed method is used for patrol path planning,which has an ideal path smoothing effect.
作者
叶如祥
林玮
石志杰
吴宏伟
佘文锦
YE Ruxiang;LIN Wei;SHI Zhijie;WU Hongwei;SHE Wenjin(Department of Power Engineering,Zhejiang Provincial Electric Power Vocational College,Hangzhou 310015 China;School of Metrology and Measurement Engineering,China Jiliang University,Hangzhou 310018 China;School of Information and Electronic Engineering,Shangqiu Institute of Technology,Shangqiu 476000 China;Department of Power Engineering,Shanghai Electric Power College,Shanghai 200090 China;School of Management,Zhejiang University of Technology,Hangzhou 310014 China)
出处
《国外电子测量技术》
2025年第3期100-105,共6页
Foreign Electronic Measurement Technology
关键词
空域环境
无人区
巡检路径规划
灰狼优化算法
路径平滑
airspace environment
unmanned area
inspection path planning
gray wolf optimization algorithm
path smoothing
