摘要
在港口环境中无人机对岸桥进行自主检测时,由于无人机的运动特性,飞行轨迹与检测点之间的直线路径往往存在较大的偏离。为了解决这个问题,首先通过构建等腰三角形对生成的检测路径点进行预处理,然后在最小化snap方法的基础上,把走廊约束作为不等式约束添加到优化的目标函数中,同时建立偏离评估函数对偏离距离进行评估。在含有一台岸桥简化模型的仿真环境中进行实验,实验数据证明提出的方法不仅在生成轨迹的长度上有了一定的优化,同时在平均偏离距离上比改进前减少了88.7%,同时通过分析得到生成的轨迹可以很好地被无人机跟踪。由此可得,在仿真环境中,提出的方法可以为无人机在轨迹优化过程中生成一条质量更高的轨迹。
In the port environment,due to the motion characteristics of unmanned aerial vehicle(UAV),the flight trajectory always deviates from the linear path between the detection points.In order to solve this problem,firstly,this paper used constructing isosceles triangle method to preprocess the given path,and then on the basis of minimum-snap method,added corridor constraint to the optimization objective function as inequality constraint,and established the deviation evaluation function to evaluate the deviation distance.It carried an experiment out in a simulation environment with a simplified quay crane model.The experimental data shows that the proposed method not only optimizes the time and length of the generated trajectory,but also reduces the average deviation distance by 88.7%.At the same time,the UAV can track the generated trajectory well.Thus,in the simulation environment,the proposed method can generate a higher quality trajectory in trajectory optimization.
作者
唐刚
侯志鹏
胡雄
Tang Gang;Hou Zhipeng;Hu Xiong(Logistics Engineering College,Shanghai Maritime University,Shanghai 201306,China)
出处
《计算机应用研究》
CSCD
北大核心
2021年第5期1455-1458,共4页
Application Research of Computers
基金
上海市青年科技英才扬帆计划资助项目(19YF1419100,19YF1418900)。
关键词
岸桥
最小化snap
走廊约束
评估函数
quay crane
minimum snap
corridor constraint
evaluation function
