【无人机】【2008.04】城市环境中无人驾驶航空器和地面车辆的路径规划

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最新推荐文章于 2022-09-21 14:58:13 发布

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本文为美国杨百翰大学（作者：AndrewBruce Curtis）的硕士论文，共141页。

无人机系统，特别是无人机（UAV）和无人地面车辆（UGV），已经成为一个热门的研究课题。本论文探讨无人机-无人地面车辆系统在城市复杂地形中追踪人类移动的潜力。本研究主要针对无人机和无人地面车辆的路径规划问题，并针对这两个问题提出了有效的解决方案。

在无人机路径规划问题中，我们希望为小型固定翼无人机规划一条路径，使其能够在不与任何建筑物发生碰撞的情况下穿越已知的城市地形。本文提出了一种考虑无人机动力学的航路点RRT（WRRT）算法，该算法在城市地形中为无人机规划一条可飞行、无碰撞的航路点路径。结果表明，该方法具有快速、鲁棒性强的特点，能够在复杂的城市环境和其他地形图中进行路径规划。仿真和硬件测试表明，这些用于无人机的飞行路径规划确实是有效的。

无人地面车辆路径规划问题的重点是规划设计一条路径，以捕获城市道路网中的移动目标。我们讨论了利用基于马尔可夫链的目标运动模型来预测未来的目标位置，然后介绍了捕获和传播算法，该算法利用该目标运动模型来确定在不同步数和不同初始UGV移动情况下捕获目标的概率。通过应用不同的代价函数，将该算法的结果应用于无人地面车辆的第一步最优设计。结果表明，该算法至少与直接规划目标当前位置的路径一样有效，而且在许多情况下，该算法的性能更好。我们讨论了这些不同的情况，并用仿真结果对其进行了验证。

Unmanned vehicle systems, specificallyunmanned air vehicles (UAVs) and unmanned ground vehicles (UGVs), have become apopular research topic. This thesis discusses the potential of a UAV-UGV systemused to track a human moving through complex urban terrain. This researchfocuses on path planning problems for both a UAV and a UGV, and presentseffective solutions for both problems. In the UAV path planning problem, wedesire to plan a path for a miniature fixed-wing UAV to fly through known urbanterrain without colliding with any buildings. We present the Waypoint RRT(WRRT) algorithm, which accounts for UAV dynamics while planning a flyable,collision-free waypoint path for a UAV in urban terrain. Results show that thismethod is fast and robust, and is able to plan paths in difficult urbanenvironments and other terrain maps as well. Simulation and hardware testsdemonstrate that these paths are indeed flyable by a UAV. The UGV path planningproblem focuses on planning a path to capture a moving target in an urban grid.We discuss using a target motion model based on Markov chains to predict futuretarget locations. We then introduce the Capture and Propagate algorithm, whichuses this target motion model to determine the probabilities of capturing thetarget in various numbers of steps and with various initial UGV moves. Byapplying some different cost functions, the result of this algorithm is used tochoose an optimal first step for the UGV. Results demonstrate that thisalgorithm is at least as effective as planning a path directly to the currentlocation of the target, and that in many cases, this algorithm performs better.We discuss these cases and verify them with simulation results.