Abstract
针对无人机(Unmanned Aerial Vehicle, UAV)在低空复杂未知环境下的航迹规划问题, 充分考虑去程与返程过程中信息的不对称特性, 本文提出一种UAV往返航迹规划算法. 去程规划通过UAV机载设备实时探测不断更新环境信息, 并利用改进的B-RRT*(Bidirectional Rapidly-exploring Random Tree*)算法结合滚动规划生成去程航迹. 返程规划根据去程航迹与全局环境信息, 限制在由航迹起始点和目标点确定的椭圆子集中进行集中采样, 并采用三次B样条插值算法对规划航迹进行平滑处理生成返程航迹. 仿真结果表明所研究的改进算法能有效实现去程与返程的航迹规划. 最后, 搭建四旋翼UAV平台进行UAV避障飞行实验, 验证了本文所提算法的有效性.
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