考虑安全飞行通道约束的无人机飞行轨迹多目标优化策略

黄宇昊, 韩超, 赵明辉, 杜乾坤, 王石刚

Multi-Objective Optimization Strategy of Trajectory Planning for Unmanned Aerial Vehicles Considering Constraints of Safe Flight Corridors

HUANG Yuhao, HAN Chao, ZHAO Minghui, DU Qiankun, WANG Shigang

表2 通过安全飞行通道计算障碍物间隙及梯度的结果

Tab.2 Calculated results of obstacle clearance and gradient using safe flight corridors

pT/m 安全飞行通道计算结果 栅格地图计算结果 omin/m g omin/m g (-7.34,-6.02, 2.00) 1.15 (-0.22,-0.98, 0.00) 1.16 (-0.18,-0.98, 0.00) (-3.20,-1.51, 1.65) 0.54 (0.08, 0.99,-0.04) 0.63 (-0.31, 0.95, 0.00) (1.02,-1.29, 1.18) 0.93 (0.98,-0.22, 0.05) 0.94 (0.97,-0.21, 0.01) (4.28, 1.19, 1.09) 0.90 (-0.51, 0.86, 0.03) 0.92 (-0.49, 0.87, 0.01)