舰船电子工程2017，Vol.37Issue(3)：31-34,4.DOI:10.3969/j.issn.1672-9730.2017.03.008
基于曲率连续曲线的无人机路径规划方法
Path Planning Based on Curvature Continuous Curve for Unmanned Aerial Vehicles
摘要
Abstract
An algorithm for automatic path generation of UAV based on curvature continuous curve is proposed for the shortcomings of existing path planning algorithms.The PH curve is used to generate the initial curve, and then a fitness function is set up.Corresponding parameters are calculated and the value of the fitness function is cycled through the simulated annealing algorithm to meet the setting conditions.The PH curve is adjusted continuously to achieve the best condition.Simulation results show that the proposed method can meet the requirements of curvilinear path continuity and UAV curvature constraint.关键词
路径规划/曲率连续/五次PH曲线/适应度函数Key words
path planning/curvature continuous/quintic PH curve/fitness function分类
信息技术与安全科学引用本文复制引用
宿勇..基于曲率连续曲线的无人机路径规划方法[J].舰船电子工程,2017,37(3):31-34,4.
