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航迹光顺是保证无人机航迹规划可飞性的关键。给出了基于V图的规划空间生成策略,运用动态规划法,获得了初始最优航迹;研究分析了CS曲线的变化特性,提出了一种基于CS曲线的航迹光顺算法;通过引入无人机飞行性能约束到CS曲线,建立基于CS曲线的最优航迹光顺模型;仿真结果表明所提航迹光顺方法既保证了航迹的可飞性,又保证了无人机的安全性。
Smooth track is the key to ensure the flightability of UAV flight path planning. The strategy of generating space for planning space based on V-graph is presented. The dynamic programming method is used to obtain the initial optimal trajectory. The variation characteristics of CS curve are studied and analyzed. A new algorithm based on CS curve is presented. The UAV’s flight performance is constrained to the CS curve, and the optimal curve smoothing model based on the CS curve is established. The simulation results show that the proposed method not only ensures the flightability of the track, but also ensures the UAV safety.