基于有理Bézier曲线光滑拼接的无人机路径规划方法

A Path Planning Method for Unmanned Aerial Vehicles Based on Smooth Splicing of Rational Bézier Curves

摘要: 随着无人机技术的迅猛发展，无人机被广泛运用于人类生产生活的各个领域。无人机路径的合理规划在减少能耗、保证安全等方面具有极其重要的作用，而常见的路径规划算法极易出现路径无法进行平滑连接的缺陷。本文针对这一问题，借助有理Bézier曲线的优良特征，在D*算法的基础上，通过实验对目标函数进行调试，从而完成路径规划，得到了耗能较少、路径尽可能短且较为平滑的优质路线，为无人机的应用打下坚实的基础。

Abstract: With the rapid development of unmanned aerial vehicle technology, unmanned aerial vehicles have been widely applied in various fields of human production and life. The rational planning of the path for unmanned aerial vehicles plays an extremely important role in reducing energy consumption and ensuring safety. However, common path planning algorithms are prone to the defect that paths cannot be smoothly connected. This paper addresses this issue by leveraging the excellent features of rational Bézier curves and based on the D* algorithm, the objective function is debugged through experiments, thereby completing the path planning. We have obtained a high-quality route with reduced energy consumption, as short and relatively smooth as possible, which lays a solid foundation for the application of drones.