Regional Trajectory Planning of Unmanned Aerial Vehicles Based on Spiral Spline

Abstract

Abstract: A trajectory planning method was put forward based on spiral spline for the applications of unmanned aerial vehicles in regional operation. The method designed an algorithm to generate control points, and used NURBS for curve fitting. An optimization problem with the shortest flight time was solved by linear programming. The second-order Taylor expansion was used for curvilinear interpolation. Experiments were carried out on a platform with a trajectory tracking controller. From the experimental results it is shown that the method may effectively reduce flight time and improve efficiency, compared with traditional zigzag trajectory method under the same dynamic constraints and operation requirements.

Key words: unmanned aerial vehicle, regional trajectory planning, non-uniform rational B-spline(NURBS), trajectory optimization

摘要： 针对旋翼无人机在区域作业中的应用需求，提出一种螺旋样条区域轨迹生成方法，设计了给定区域的螺旋控制点生成方法，基于非均匀有理B样条拟合了轨迹。采用线性规划方法求解了以飞行时间最短为目标的规划问题，利用二阶泰勒展开法插值生成用于控制的轨迹序列。通过轨迹追踪实验可知，与传统折线区域轨迹规划方法对比，在相同的动力学约束及作业要求的前提下，该方法有效缩短了作业时间，提高了作业效率。

关键词: 旋翼无人机, 区域轨迹规划, 非均匀有理B样条曲线, 轨迹优化

CLC Number:

TP29

CHEN Jie;DONG Wei;SHENG Xinjun;ZHU Xiangyang. Regional Trajectory Planning of Unmanned Aerial Vehicles Based on Spiral Spline[J]. China Mechanical Engineering.

陈杰;董伟;盛鑫军;朱向阳. 基于螺旋样条的旋翼无人机区域轨迹规划[J]. 中国机械工程.

References

[1]CHEN J, WU J, CHEN G, et al. Design and Development of a Multi-rotor Unmanned Aerial Vehicle System for Bridge Inspection[M]//Intelligent Robotics and Applications. Berlin: Springer, 2016.
[2]吴小伟, 茹煜, 周宏平. 无人机喷洒技术的研究[J]. 农机化研究, 2010, 32(7):224-228.
WU Xiaowei, RU Yu, ZHOU Hongping. Reaserch on Unmanned Aerial Vehicle Spraying Tchnique[J]. Journal of Agricultural Mechanization Research, 2010, 32(7): 224-228.
[3]汪沛, 罗锡文, 周志艳,等. 基于微小型无人机的遥感信息获取关键技术综述[J]. 农业工程学报, 2014, 30(18): 1-12.
WANG Pei, LUO Xiwen, ZHOU Zhiyan, et al. Key Technology for Remote Sensing Information Acquisition Based on Micro UAV[J]. Transactions of the Chinese Society of Agricultural Engineering, 2014, 30(18):1-12.
[4]曲东才. 微型无人机军事应用、研究进展及关键技术[J]. 航空科学技术, 2004(2):24-27.
QU Dongcai. Military Application and Development and Key Technologies of MAV[J]. Aeronautical Science and Technology, 2004(2):24-27.
[5]徐博, 陈立平, 谭彧,等. 基于无人机航向的不规则区域作业航线规划算法与验证[J]. 农业工程学报, 2015，31(23): 173-178.
XU Bo, CHEN Liping, TAN Yu, et al. Route Planning Algorithm and Verification Based on UAV Operation Path Angle in Irregular Area[J]. Transactions of the Chinese Society of Agricultural Engineering, 2015，31(23):173-178.
[6]CHEN G, WANG R, DONG W, et al. A Trajectory Planning and Control System for Quadrotor Unmanned Aerial Vehicle in Field Inspection Missions[C]//International Conference on Intelligent Robotics and Applications. Berlin: Springer, 2017:551-562.
[7]BIETERMAN M B, SANDSTROM D R. A Curvilinear Tool-path Method for Pocket Machining[J]. Journal of Manufacturing Science & Engineering, 2003, 125(4): 149-158.
[8]HELD M , SPIELBERGER C . A Smooth Spiral Tool Path for High Speed Machining of 2D Pockets[J]. Computer Aided Design, 2009, 41(7):539-550.
[9]毛征宇, 刘中坚. 一种三次均匀B样条曲线的轨迹规划方法[J]. 中国机械工程, 2010，21(21):2569-2572.
MAO Zhengyu, LIU Zhongjian. A Trajectory Planning Method for Cubic Uniform B-spline Curve[J]. China Mechanical Engineering, 2010, 21(21):2569-2572.
[10]叶伯生, 杨叔子. CNC系统中三次B-样条曲线的高速插补方法研究[J]. 中国机械工程,1998, 9(3):42-43.
YE Bosheng, YANG Shuzi. A High Speed Interpolation Algorithm for a Third-order B-spline Curve in CNC Systems[J]. China Mechanical Engineering, 1998, 9(3): 42-43.
[11]PHANG S K, LAI S, WANG F, et al. Systems Design and Implementation with Jerk-optimized Trajectory Generation for UAV Calligraphy[J]. Mechatronics, 2015, 30: 65-75.
[12]董伟. 四旋翼飞行机器人高性能轨迹生成与抗扰追踪控制技术研究[D]. 上海：上海交通大学, 2015.
DONG Wei. On Trajectory Generation and Disturbance Rejection Control of the Quadrotors[D]. Shanghai: Shanghai Jiao Tong University, 2015.