| 摘要: |
| 针对无人机在障碍间存在狭窄通道的城市环境中进行低空航路规划的问题，根据障碍之间的空间几何关系确定障碍之间的狭窄通道，再综合所有狭窄通道生成复杂环境中的狭窄通道路径树。设计了结合狭窄通道路径树的双向快速扩展随机树(Rapidly-exploring Random Tree,RRT)算法，在两棵搜索树的扩展过程中，通过判断搜索树与狭窄通道路径树的位置关系，将狭窄通道路径树添加到搜索树上，实现搜索树在狭窄通道中的快速扩展，减少两棵搜索树的无用扩展，提升航路树生成的速度。仿真结果表明，该方法能够解决无人机在存在狭窄通道的复杂环境中进行快速有效航路规划的问题。 |
| 关键词: 无人机航路规划 城市环境 狭窄通道路径树 快速扩展随机树(RRT) 搜索树 航路树 |
| DOI： |
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| 基金项目:国防科技创新特区项目 |
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| A rapid path planning algorithm based on narrow passage route tree |
| .RAN Huaming |
| (CETC Key Laboratory of Avionic Information System Technology,Chengdu 610036,China) |
| Abstract: |
| To solve the problem of low altitude path planning for unmanned aerial vehicle（UAV） in city environment existing narrow passage between obstacles,narrow passage between obstacles is ascertained based on the space geometry relationship between them,and narrow passage route tree in the complex environment is generated by synthesizing all the narrow passages.Then the bidirectional Rapidly-exploring Random Tree(RRT) algorithm combined with narrow passage route tree is proposed.During the extending process of the two search trees,they can rapid extend in the narrow passages by adding the narrow passage route tree to the search tree according to the position relationship between them,which can reduce the useless extension of the two search trees and promote the generate speed of the path tree.Simulation results show that the algorithm can solve the rapid and efficient path planning problem for UAV in the complex environment with narrow passages. |
| Key words: UAV path planning city environment narrow passage route tree rapidly-exploring random tree(RRT) search tree path tree |
