未知复杂环境中的无人机平滑飞行路径规划 - 控制理论与应用.pdf

29 11 Vol. 29 No. 11 2012 11 Control Theory Applications Nov. 2012 :2012 , , (1. , 100191; 2. , 710025) : , , , . , , . , . : , . : ; ; : TP273 : A Smooth path planning for unmanned aerial vehicles in unknown complex environments LIU Wei , ZHENG Zheng , CAI Kai-yuan (1. School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China; 2. School of Science, The Second Artillery Engineering University, Xi’an Shaanxi 710025, China) Abstract: A smooth real-time path planning approach is proposed based on the bilevel programming (BLP) for un- manned aerial vehicles (UAVs) in complex environments, to improve the flight path smoothness which has not been achieved by most existing methods. Firstly we define the measure for the path smoothness, and then we build the model for the bi-level decision objectives, the model of obstacle avoidances and the model of performances of the UAV, and intro- duce a variable planning time interval. On this basis, we proceed to develop the path planning model based on the bi-level decision. In the process of the planning, we introduce heuristic optimal strategies to further improve the smoothness for the local path and the global path, and to raise the efficiency in path searching. Results from simulations of the proposed approach in complex scenarios are compared with those obtained from classical methods; the conclusions indicate that the proposed approach can successfully plan a shorter and smoo