The invention discloses a quadrotor unmanned aerial vehicle trajectory planning method based on space-time joint optimization. The method comprises the following steps: searching a front-end path to obtain discrete path points, allocating a time interval to each section of path by adopting a trapezoidal time allocation method, and optimizing through an unconstrained polynomial coefficient to obtain an initial trajectory path; based on duration cost and energy consumption cost of the initial trajectory, carrying out proportional adjustment on the time interval under the condition that constraints are considered, solving an optimal adjustment proportion, and updating the time intervals of all trajectory segments; then, alternately carrying out two links of unconstrained polynomial coefficient optimization and proportional adjustment of a time interval, and when trajectory cost tends to converge, ending a circulation step; carrying out overall proportion adjustment on the whole trajectorypath, ensuring that the whole trajectory meets constraint conditions, and acquiring a final optimized trajectory; and enabling the unmanned aerial vehicle to follow the trajectory by using the path points obtained by time discretization of the polynomial trajectory. According to the invention, the space-time joint optimization of the trajectory is realized, and meanwhile, a calculation rate is greatly improved.
本发明公开了一种空间时间联合优化的四旋翼无人飞行器轨迹规划方法,对前端路径搜索得到离散路径点,采用梯形时间分配法给各段路径分配时间间隔,通过无约束多项式系数优化得到初始轨迹路径;基于初始轨迹的持续时间代价与能量消耗代价,在考虑约束的情况下对时间间隔进行比例调节,求解最优调节比例并更新所有轨迹段的时间间隔;之后交替进行无约束多项式系数优化与比例调节时间间隔两个环节,当轨迹代价趋于收敛时结束循环步骤;对整个轨迹路径进行整体比例调节,确保整条轨迹满足约束条件,得到最终优化轨迹;利用该多项式轨迹时间离散得到的路径点来控制飞行器跟随轨迹。本发明不仅实现了轨迹的空间‑时间联合优化,同时大幅提升计算速率。
Quadrotor unmanned aerial vehicle trajectory planning method based on space-time joint optimization
一种空间时间联合优化的四旋翼无人飞行器轨迹规划方法
2020-12-11
Patent
Electronic Resource
Chinese
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