无人机集群曲线虚拟管道空间满足规划

doi:10.12305/j.issn.1001-506X.2024.10.29

摘要/Abstract

摘要：

虚拟管道宽度直接影响了管道内无人机的流速, 但目前虚拟管道规划的方法并不能保证管道宽度, 容易造成堵塞, 严重影响无人机通行效率。对此, 提出一种虚拟管道空间满足规划方法, 可以在包含障碍物的环境中得到一条满足虚拟管道空间要求的管道生成线。主要包括路径搜索和轨迹优化, 基于快速探索随机树* (rapidly exploring random tree*, RRT*)搜索, 通过空间检测判断每段路径周围是否有足够空间, 若无足够空间则重新拓展搜索, 替换掉空间不足的路径段。在轨迹优化过程中, 使用均匀B样条参数化轨迹, 并设计碰撞代价函数和光滑代价函数, 使轨迹远离障碍物, 为虚拟管道规划提供足够空间。仿真测试验证了所提方法在大规模集群中的优越性和鲁棒性。在仿真测试中, 15架无人机集群通行时间平均降低20%。

关键词: 虚拟管道, 四旋翼飞行器, 运动规划, 路径搜索, 均匀B样条, 空间满足

Abstract:

The width of the virtual tube directly affects the flow rate of unmanned aerial vehicles in the tube. However, current virtual tube planning methods cannot guarantee the tube width, which leads to blockages that severely impact the efficiency of unmanned aerial vehicle passage. In this regard, a method for planning a virtual tube space is proposed that can generate a tube generation path meeting the virtual tube space requirements in an environment containing obstacles. The method mainly includes path searching and trajectory optimization. It is based on the rapidly exploring random tree* (RRT*) search, where space detection is used to determine whether there is sufficient space around each segment of the path. The search is then re-expanded, replacing path segments with insufficient space if the space is not enough. In the trajectory optimization process, a uniform B-spline is used to parameterize the trajectory, and a collision cost function and a smoothing cost function are designed to keep the trajectory away from obstacles, providing enough space for virtual tube planning. Simulation tests verify the superiority and robustness of the proposed method in large-scale swarms, with the reduction of 20% of average passage time of a swarm containing 15 unmanned aerial vehicles.

Key words: virtual tube, quadrotor aircraft, motion planning, path searching, uniform B-spline, space satisfaction

中图分类号:

TP29

肖士博, 齐国元, 邓嘉豪, 苏鹏鹏, 贾晶童. 无人机集群曲线虚拟管道空间满足规划[J]. 系统工程与电子技术, 2024, 46(10): 3528-3535.

Shibo XIAO, Guoyuan QI, Jiahao DENG, Pengpeng SU, Jingtong JIA. Space satisfaction planning for curved virtual tube of unmanned aerial vehicle swarm[J]. Systems Engineering and Electronics, 2024, 46(10): 3528-3535.

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参数	数值
最大搜索次数/次	50 000
搜索步长	30

参数	序号	RRT*	虚拟管道路径搜索
时间/μs	1	2.106 5	9.201 5
	2	2.534 7	4.467 6
	3	5.081 1	7.384 3
	4	9.884 2	10.266 0
s_p	1	22.3	40.0
	2	23.6	40.0
	3	40.0	40.0
	4	14.3	25.0

参数	数值
λ_s	0.6
λ_c	1.0

参数	数值
最大速度/(m/s)	1.0
安全半径/m	2.0
避让半径/m	4.0
检测半径/m	6.0

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