基于差分进化算法的无人机在线路径规划，可应对动态障碍与运动约束。
Online path planning for kinematic-constrained UAVs in a dynamic environment based on a Differential Evolution algorithm
- 用NURBS曲线表示路径，结合差分进化优化
- 支持最大曲率和期望朝向等运动约束
- 适合需要实时避障的无人机系统应用
本研究提出一种针对无人飞行器（UAV）的在线路径规划方法，可处理动态障碍物及飞行器运动约束，包括最大曲率和期望朝向。所提规划器采用NURBS路径表示，并结合差分进化算法，在约束函数中融入速度障碍（Velocity Obstacle）思想。初步结果表明该方法可行，为未来拓展至三维环境奠定了基础。
原文摘要 · Abstract (English)
This research presents an online path planner for Unmanned Aerial Vehicles (UAVs) that can handle dynamic obstacles and UAV motion constraints, including maximum curvature and desired orientations. Our proposed planner uses a NURBS path representation and a Differential Evolution algorithm, incorporating concepts from the Velocity Obstacle approach in a constraint function. Initial results show that our approach is feasible and provides a foundation for future extensions to three-dimensional (3D) environments.
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