摘要
针对飞机检测任务中,三维环境下的无人机全覆盖路径规划问题,提出一种基于改进的WaveFront算法的覆盖路径规划算法。研究一种基于离散三维栅格地图的三维模型表面视点的提取方法;根据相邻视点的约束策略改进WaveFront算法,解决不同方向上由于损耗值相同导致的局部最优问题;设计三维空间的方向评估函数,结合视点位置,能够引导无人机前进方向;实现基于三维模型的飞机外表面无人机覆盖路径规划。试验结果表明,算法能够实现飞机外表面视点的自动化提取,结合视点能够自主规划无人机的飞行路径。相比于遗传算法,改进的WaveFront能够有效地进行飞机外表面的路径规划,保证无人机与飞机机身维持无碰撞状态。根据规划的路径,无人机可以完成飞机机身外表面的无遗漏检测任务。
A coverage path planning algorithm based on the improved WaveFront algorithm is proposed for the full coverage path planning problem of unmanned aerial vehicles(UAVs)in the 3D environment in aircraft inspection tasks.Investigating a method for extracting viewpoints on the surface of 3D models based on discrete 3D grid maps.Improving the WaveFront algorithm according to the constraint strategy of adjacent viewpoints to solve the local optimum problem caused by the same loss value in different directions.Designing the orientation evaluation function in 3D space,which,combined with the viewpoint position,can guide the forward direction of the UAV.Realizing the UAV coverage path planning based on the 3D model for the aircraft surface.The experimental results show that the algorithm can realize the automatic extraction of viewpoints on the aircraft surface,and combined with the viewpoints can autonomously plan the flight path of the UAV.Compared with the genetic algorithm,the improved WaveFront can effectively carry out path planning on the aircraft surface and ensure that the UAV maintains a collision-free state with the aircraft fuselage.According to the planned path,the UAV can complete the task of detecting the surface of the aircraft fuselage without omission.
作者
戴佳佳
龚小溪
汪俊
DAI Jiajia;GONG Xiaoxi;WANG Jun(College of Mechanical&Electrical Engineering,Nanjing University of Aeronautics and Astronautics,Nanjing 210016)
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2023年第16期243-253,共11页
Journal of Mechanical Engineering
