Unmanned aerial vehicle trajectory planning method based on EB-RRT

Abstract

The invention provides an unmanned aerial vehicle trajectory planning method based on EB-RRT. The method comprises the steps that grid partitioning is carried out on a map environment; a node xnearst nearest to a random point in existing nodes is found; an insertion point xnew is calculated according to the step length; if the sum of the distance between a root node to xnew and the Euclidean distance between xnew and the end is not greater than the length of the current optimal path, whether the xnew point is in an obstacle is detected; if not, the surrounding environment information of xnearst is collected, and a new insertion point xnew is randomly sampled in the surrounding free area; xnew is inserted into a tree; the nearby node set of xnew is traversed and found in the corresponding grid, and the path of the nearby nodes is optimized; connection detection is carried out on two trees into which the xnew point is inserted; if not, two trees are exchanged, and random points continue to be sampled; if so, a feasible path is found, and downsampling is carried out; and a Bessel cubic interpolation algorithm is used to optimize the new path. The unmanned aerial vehicle trajectory planning method provided by the invention has the advantages of high convergence speed, good flexibility, high running efficiency and good practicability.

Description

technical field [0001] The invention belongs to the field of unmanned aerial vehicle motion planning, in particular to a method for autonomous track planning of an unmanned aerial vehicle. Background technique [0002] Trajectory planning is an important problem in UAV navigation and robotics. Its basic definition is: given an initial state and a target state, find a feasible trajectory to make the UAV run from the initial state to the target state without collision. . Trajectory planning has a wide range of application scenarios: GPS navigation, driverless cars, computer animation, routing problems, robotic arm motion in the manufacturing industry and life, and many aspects of the industrial field. Therefore, the research on trajectory planning has become a research hotspot in recent years. [0003] UAV track planning algorithm can be divided into local track planning and global track planning according to its perception ability. The global track planning is to plan in th...

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Problems solved by technology

[0009] In order to overcome the disadvantages of the existing unmanned aerial vehicle track planning method, such as slow convergence speed, poor flexibility, low operating efficiency, and poor practicability, the present invention provides a fast convergence speed, good flexibility, EB-RRT-based UAV track planning method with high operating efficiency and good practicability

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