【摘要】 旋转翼无人机是利用机翼旋转产生飞行动力的,具有原地起飞以及空中悬停的能力。利用等高线地图数据,将闭合的等高线曲线看作障碍物,提取其控制点的高程数据,将实测高程以外的插入值去掉,得到一闭合多边形曲线。以旋转翼无人机飞行高度上的等高线曲线为感兴趣线,以此多边形为基础,一定长度为膨胀系数(比如等高距一半),建立起等高线等效障碍物模型,利用基于特征点的路径规划算法,以此等高线等效障碍物模型控制点坐标为特征点进行旋转关翼无人机的路径规划。更多还原

【Abstract】 Rotary-wing unmanned aerial vehicle(UAV) is generated by rotary wing flight dynamics,with the ability to take off and make hovering possible.With the usage of contour map data,a closed contour curves is seen as obstacles to extract its control point elevation data.The inserted value that is not measured will be removed,and we get a closed polygonal curve.A rotary wing UAV flight altitude on the contour curve seen as line of interest to serve with the basis of these polygons,certain length expansion coefficient(such as contour interval half).And an equivalent obstacle contour model is established.Thenpath rotary-wing UAV is planed with the equivalent obstacle contour models that have chosen feature points as the control points.更多还原