Quadrotor unmanned aerial vehicle trajectory planning method of non-traditional Euclidean distance field

• Main Authors: TAN SHILEI, WANG SHUAI, SONG YONGDUAN, LI JUNBEI, YANG FAN, TAN LIHUI
• Format: Patent
• Language: Chinese; English
• Published: 24.12.2021
• Subjects: CONTROLLING; PHYSICS; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

The invention discloses a quadrotor unmanned aerial vehicle trajectory planning method of a non-traditional Euclidean distance field. The quadrotor unmanned aerial vehicle trajectory planning method comprises the following steps of: firstly, neglecting collision between an initial track and an obstacle, establishing a standard B-spline curve only meeting endpoint constraints, endowing each control point in a current collision section with an anchor point, acquiring a collision-free path of the track originally in the obstacle by using an enhanced RRT* algorithm, calculating a collision term penalty function of a penalty function, and estimating gradient information by using the result of the collision term penalty function; calculating a collision-free trajectory by using the collision-free path and the penalty function; judging whether the trajectory meets dynamic constraints or not, and if not, performing time redistribution operation on the initial trajectory; and under the action of redistributed time and