自主微型直升机飞行路径规划研究

Path Planning for a Small Autonomous Helicopter

摘要: 实现无人直升机在不确定3维环境中的自主行为，路径规划是关键所在．考虑到直升机的实时要求，基于距离转换方法，提出一种改进的快速3维路径规划方法，并对避障策略做了一些探讨．仿真试验的结果验证了其有效性．

Abstract: Path planning methods for an unmanned helicopter are essential to establishing autonomous control of the vehicle. A method for fast 3D path planning and obstacle avoidance,based on the distance transform,is introduced,and obstacle avoidance strategies are discussed. the experimental results show its effectiveness.