Spline Trajectory Algorithm Development: Bezier Curve Control Point Generation for UAVs
Spline Trajectory Algorithm Development: Bezier Curve Control Point Generation for UAVs
复制标题
样条轨迹算法开发：无人机贝塞尔曲线控制点生成
DOI：
10.2514/6.2016-4197
复制
发表时间：
2016
影响因子：
0.4
通讯作者：
Bonnie D. Allen
中科院分区：
文献类型：
--
作者：
Lauren R. Howell;Bonnie D. Allen
对复杂的自主驾驶系统的更大需求与无人机（UAV）技术的普遍存在直接相关。无论是调查世界上未知或未探索的地区，从人类通常无法进入的地区收集科学数据，定位失踪或通缉人员，还是运送紧急物资，无人驾驶车辆在接近人员和其他车辆的情况下都应该平稳且可预测地飞行。样条插值的数学应用在自动驾驶仪的机载轨迹规划中具有重要的作用。样条插值允许通过一组连续的平滑曲线连接三维欧几里得空间坐标。本文探讨了用于计算样条控制点的动机、应用和方法，样条控制点以使自动驾驶仪轨迹能够满足车辆动力学限制的方式塑造曲线。用于生成这些曲线的样条算法为自动驾驶仪提供了通过一组坐标航点计算车辆路径所需的信息。
A greater need for sophisticated autonomous piloting systems has risen in direct correlation with the ubiquity of Unmanned Aerial Vehicle (UAV) technology. Whether surveying unknown or unexplored areas of the world, collecting scientific data from regions in which humans are typically incapable of entering, locating lost or wanted persons, or delivering emergency supplies, an unmanned vehicle moving in close proximity to people and other vehicles, should fly smoothly and predictably. The mathematical application of spline interpolation can play an important role in autopilots’ on-board trajectory planning. Spline interpolation allows for the connection of Three-Dimensional Euclidean Space coordinates through a continuous set of smooth curves. This paper explores the motivation, application, and methodology used to compute the spline control points, which shape the curves in such a way that the autopilot trajectory is able to meet vehicle-dynamics limitations. The spline algorithms developed used to generate these curves supply autopilots with the information necessary to compute vehicle paths through a set of coordinate waypoints.