一种人-自动化系统协作的无人机航迹规划方法

A Route Planning Method for UAV based on Collaborative Human-Automation RRT

摘要:

为解决无人机航迹规划中考虑“人在闭环”控制需求、结合人机综合优势以进一步提高规划能力的问题,提出了一种人-自动化系统协作的航迹规划方法；该方法利用操控员选取人工引导路径点,以起始点、人工引导路径点和目标点为根节点形成多树扩展；引入Dubins曲线应用于随机树扩展和寻找最近子节点过程,改善航迹平滑性；仿真实验结果表明,该方法在自动化系统局部自主能力的基础上引入人的智能,规划效率和可靠性得到了提高,可用于无人机航迹规划实践。

关键词:无人机;人-自动化系统协作;快速扩展随机树;航迹规划;Dubins曲线

Abstract:

In order to fulfill the Human in Loop control demand,combine human and automationadvantages to improve the route planning efficiency for UAV, a Collaborative Human-Automation RRT (c_RRT) algorithm is proposed. The artificial guided waypoints are selected by user to identify narrow regions in the map, and the planner creates multiple trees from the initial point, goal point and the waypoints to promote the performance of the RRT algorithm under human interference; at the same time, Dubins Curve is applied in the Extend () and NearestState() sub-program to improve the smooth of route. Simulation results demonstrate the method’s effectiveness, and can be used in UAV route planning task.

Key words:UAV; collaborative human-automation; RRT; route planning; Dubins curve