| 基于类三维地图的无人机路径规划 |
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| 引用本文： | 周良,王耀南,印峰,张健全,马波. 基于类三维地图的无人机路径规划[J]. 计算机测量与控制, 2011, 19(11) |
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| 作者姓名： | 周良 王耀南 印峰 张健全 马波 |
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| 作者单位： | 1. 湖南大学电气与信息工程学院,湖南长沙,410082
2. 中国南方电网超高压输电公司柳州局,柳州,545000 |
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| 基金项目： | 国家自然基金重点项目(60835004); 国家支撑计划项目(2008BAF36B01) |
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| 摘 要： | 在无人机低空飞行时,障碍物的形状大都不规则,很难建立其准确的解析模型;针对该问题,在栅格法的基础上提出了一种利用类三维地图进行路径规划的方法;首先阐述了类三维地图的创建方法,并提出了下降方向和驻点等概念;分析了在不规则障碍环境下进行路径规划时如何避免死锁以及提高规划效率;给出了算法的具体实现步骤;仿真结果表明,在不规则障碍物环境下此方法能迅速得到较好的规划结果。
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| 关 键 词： | 无人机 路径规划 类三维地图 栅格 |
UAV Route Planning Using a Three-dimensional-like Map |
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| Zhou Liang,Wang Yaonan,Yin Feng,Zhang Jianquan,Ma Bo. UAV Route Planning Using a Three-dimensional-like Map[J]. Computer Measurement & Control, 2011, 19(11) |
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| Authors: | Zhou Liang Wang Yaonan Yin Feng Zhang Jianquan Ma Bo |
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| Affiliation: | Zhou Liang1,Wang Yaonan1,Yin Feng1,Zhang Jianquan2,Ma Bo1(1.Department of Electrical and Information Engineering,University of Hunan,Changsha 410082,China,2.China southern power grid extra-high voltage transmission company Liu Zhou branch,Liuzhou 545000,China) |
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| Abstract: | When the UAVs fly at a low altitude,the obstacles are Irregularly shaped,it is difficult to establish their analytical model.To solve this problem,a route planning approach based on a three-dimensional-like map in grid space is proposed.First,the method with which the grid map is transformed to a three-dimensional-like map is described,the concepts of the downward direction and the transit point are proposed in addition.Then,the analysis of how to avoid deadlock and how to improve the planning efficiency in... |
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| Keywords: | UAV route planning three-dimensional-like map grid |
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