计算机科学 ›› 2017, Vol. 44 ›› Issue (8): 198-206.doi: 10.11896/j.issn.1002-137X.2017.08.035
陈晋音,施晋,杜文耀,吴洋洋
CHEN Jin-yin, SHI Jin, DU Wen-yao and WU Yang-yang
摘要： 随着小型无人机的广泛应用,提高无人机的自动巡航能力变得至关重要。无人机航迹规划是指其在已知环境地图信息下展开航迹规划,实现无碰撞的、平滑的、从初始点到达目标点的路径。针对现有算法依然存在收敛速度慢、内存消耗大、航迹规划固定步长和航迹平滑度无法满足实际无人机飞行等问题,提出了MB-RRT*(Modified B-RRT*)算法,通过懒惰采样方法加快算法收敛速度并减少内存占用；设计自适应步长来解决算法在障碍物附近生长树的局限性问题,从而提高了找到初始可行解的速度和质量；然后利用降采样和3次贝塞尔插值算法实现了曲线拟合的功能,使算法最终生成相对平滑的航迹,为无人机实际飞行提供可行的航迹规划方法。最后在多组不同环境复杂度的实验中,通过与其他算法相比较,验证了所提算法的有效性。
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