CN110262542A - A kind of corner and the rotor wing unmanned aerial vehicle economized path optimization method apart from combination - Google Patents
A kind of corner and the rotor wing unmanned aerial vehicle economized path optimization method apart from combination Download PDFInfo
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Abstract
The invention discloses the economized path planing methods of a kind of corner and the rotor wing unmanned aerial vehicle apart from combination, this method estimates that rotor wing unmanned aerial vehicle flies over the energy consumption of this dog leg path using the corner of dog leg path and distance feature, improves not comprehensive problem that distance estimations path energy consumption is only used in existing rotor wing unmanned aerial vehicle economized path planning；And by constructing three-dimensional weight matrix, economized path is cooked up then in conjunction with Greedy strategy.The cruising ability for increasing rotor wing unmanned aerial vehicle improves the energy constraint situation in rotor wing unmanned aerial vehicle application.Passage path corner proposed by the present invention and distance consider simultaneously to evaluate the economized path planing method that unmanned plane flies over the path energy consumption, it can be applied in the application of unmanned plane auxiliary traversal task point, it plays and reduces flight energy consumption, improve the effect of the task performance of single charge.
Description
Technical field
The invention belongs to unmanned plane energy-saving application technical fields, are related to a kind of corner and the rotor wing unmanned aerial vehicle section apart from combination
It can paths planning method.
Background technique
Path planning is the main means that flight energy consumption is reduced in rotor wing unmanned aerial vehicle application.Effective economized path planning side
The cruising ability of rotor wing unmanned aerial vehicle can be enhanced in method, improves the application effect of rotor wing unmanned aerial vehicle, expands its application space.
In path planning, which kind of feature of path selection has conclusive shadow to program results as planning basis
It rings.It is existing using path planning come in the research of the flight energy optimization to rotor wing unmanned aerial vehicle often with flight accessed node
The distance between (or path point) is used as planning basis, using flight total distance as optimization aim.Think flying distance optimal solution
It is exactly energy consumption optimal solution.Although some new departures are proposed on the basis of the planning of existing economized path in the recent period, such as in data collection
Accessed node number is reduced to further decrease the flight energy consumption of unmanned plane by the methods of sub-clustering in；And combine task
The communication range of point is come the flight energy consumption etc. that further decreases unmanned plane.But the essence of these improvement projects, which is still, to be passed through
Shorten flight total distance in conjunction with practical application feature.Being again based on flying distance optimal solution is exactly energy consumption optimal solution.It is not difficult
It was found that implicit premise is that the more short then flight energy consumption of flying distance is smaller using flying distance optimal solution as when energy consumption optimal solution.
By common physical knowledge it can be appreciated that in ecotopia when unaccelerated flight, this premise is clearly to set up.
However, in the application of actual rotor wing unmanned aerial vehicle, task path be tortuous change to lead to operation flight not be at the uniform velocity
Straight line；And actual task environment is obviously also not ecotopia.Therefore, as 50 meters of round-trip than 100 meters straight lines of race are run more
Consume one's strength the same, actual rotor wing unmanned aerial vehicle in-flight, flight energy consumption when flying distance is shorter is also not necessarily small, flight
Flight energy consumption when distance is longer is also not necessarily big.This makes the only estimation foundation progress energy conservation using path distance length as energy consumption
The energy-saving effect of path planning is had a greatly reduced quality.
Summary of the invention
For the deficiencies in the prior art, the object of the present invention is to provide a kind of corner and apart from the rotation of combination
Wing unmanned plane economized path planing method solves the bad technical problem of the unmanned plane path energy-saving effect of prior art planning.
In order to solve the above-mentioned technical problem, the application, which adopts the following technical scheme that, is achieved:
A kind of corner and the rotor wing unmanned aerial vehicle economized path optimization method apart from combination, the n+ for that need to pass through to unmanned plane
1 task point carries out path planning, comprising the following steps:
Step 1, set N={ n is constituted by n+1 task pointi| i=0,1,2 ..., n }, take i=0；
Step 2, task point n is taken from set NiAs current task point, by current task point niIt is put into path LiIn, and
By current task point niIt is deleted from set N, if path LiEnergy consumption ei=0；
Step 3, a task point n is looked in Nj, so that bijMinimum, by task point njIt is put into path LiIn, and by task point
njIt is deleted from set N, ei=ei+bij, wherein bijIndicate unmanned plane by current task point niFly to task point njWhen distance energy
Consumption；
Step 4, by path LiIn the last one task point as task point nk, by path LiBefore middle current task point
One task point is as task point nk-1, a task point n is found in set Nr, so that ck-1krMinimum, wherein ck-1krIndicate nobody
Machine is by task point nk-1It is sudden, in task point nkTask point n is flown to after turningrWhen corner energy consumption with it is corresponding at a distance from energy consumption it
With by task point nrIt is added to path LiIn and in set N by task point nrIt deletes, ei=ei+ck-1kr；
Step 5, step 4 is repeated, until set N is empty set；
Step 6, ei=ei+ck-1ki, ck-1kiIndicate unmanned plane from path LiMiddle penultimate task point nk-1It is sudden, and
In path LiIn the last one task point nkInitial task point n is flown to after turningiWhen corner energy consumption and corresponding apart from energy consumption
The sum of；
Step 7, i=i+1 goes to step 2 if i is less than or equal to n, no to then follow the steps 8；
Step 8, to acquired n+1 set of paths { L0,L1,...,Li,...,LnAnd corresponding energy consumption set { e0,
e1,...,ei,...,en, by energy consumption set { e0,e1,...,ei,...,enIn energy consumption minimum corresponding to path as nobody
The economized path of machine.
Further, unmanned plane is obtained by task point n by formula (1)k-1It is sudden, in task point nkTask is flown to after turning
Point nrWhen corner energy consumption with it is corresponding at a distance from the sum of energy consumption ck-1kr:
ck-1kr=ak-1kr+bkr (1)
In formula (1), ak-1krIndicate unmanned plane by task point nk-1It is sudden, in task point nkTask point n is flown to after turningrWhen
Corner energy consumption, bkrIndicate unmanned plane by task point nkFly to task point nrWhen apart from energy consumption.
Compared with prior art, the present invention beneficial has the technical effect that
1, when carrying out energy conservation plan to rotor wing unmanned aerial vehicle flight path, in addition to the path distance that will be considered in existing method
Feature as planning basis outside, also simultaneously increase by the corner feature in path be also used as economized path planning foundation so that
It is more acurrate to the estimation of path energy consumption in economized path planning, to further reduced the energy consumption of institute's planning path, and increase
The validity for having added the economized path cooked up eventually reduces energy consumption of the rotor wing unmanned aerial vehicle in practical flight, increases
The cruising ability of rotor wing unmanned aerial vehicle single charge.
2, the corner and distance feature that the present invention uses path are planned as the planning basis of economized path with economized path
Concrete application scene is relatively independent, can use well in the application of rotor wing unmanned aerial vehicle auxiliary traversal task point, play and mention
High energy efficiency increases the effect of cruising ability.
Detailed description of the invention
Fig. 1 is actual consumption comparative experiments design diagram；
Fig. 2 is unmanned plane corner and energy consumption relational graph；
Fig. 3 is application scenarios schematic diagram；
Fig. 4 is unmanned plane rectilinear flight distance and energy consumption relational graph；
The path that Fig. 5 is planned by PPDAEC and PPDEC when 50 task nodes compares；
Fig. 6 for PPDAEC the and PPDEC institute planning path under different task interstitial content energy consumption comparison figure；
Fig. 7 compares schematic diagram for the energy conservation of the PPDAEC ratio PPDEC institute planning path under different task interstitial content；
Fig. 8 compares for the live flying experimental result of PPDAEC and PPDEC institute planning path.
Explanation and illustration in further detail is done to the solution of the present invention with reference to the accompanying drawings and detailed description.
Specific embodiment
Specific embodiments of the present invention are given below, it should be noted that the invention is not limited to implement in detail below
Example, all equivalent transformations made on the basis of the technical solutions of the present application each fall within protection scope of the present invention.
Embodiment:
The present embodiment provides a kind of corner and the rotor wing unmanned aerial vehicle economized path optimization method apart from combination, is used for from nobody
Path planning is carried out in the n+1 task point that machine need to pass through, comprising the following steps:
Step 1, set N={ n is constituted by n+1 task pointi| i=0,1,2 ..., n }, take i=0；
Step 2, task point n is taken from set NiAs current task point, by current task point niIt is put into path LiIn, and
By current task point niIt is deleted from set N, if path LiEnergy consumption ei=0；
Step 3, a task point n is looked in Nj, so that bijMinimum, by task point njIt is put into path LiIn, and by task point
njIt is deleted from set N, ei=ei+bij, wherein bijIndicate unmanned plane by current task point niFly to task point njWhen distance energy
Consumption；
Step 4, by path LiIn the last one task point as task point nk, by path LiBefore middle current task point
One task point is as task point nk-1, a task point n is found in set Nr, so that ck-1krMinimum, wherein ck-1krIndicate nobody
Machine is by task point nk-1It is sudden, in task point nkTask point n is flown to after turningrWhen corner energy consumption with it is corresponding at a distance from energy consumption it
With by task point nrIt is added to path LiIn and in set N by task point nrIt deletes, ei=ei+ck-1kr；
Step 5, step 4 is repeated, until set N is empty set；
Step 6, ei=ei+ck-1ki, ck-1kiIndicate unmanned plane from path LiMiddle penultimate task point nk-1It is sudden, and
In path LiIn the last one task point nkInitial task point n is flown to after turningiWhen corner energy consumption and corresponding apart from energy consumption
The sum of；
Step 7, i=i+1 goes to step 2 if i is less than or equal to n, no to then follow the steps 8；
Step 8, to acquired n+1 set of paths { L0,L1,...,Li,...,LnAnd corresponding energy consumption set { e0,
e1,...,ei,...,en, by energy consumption set { e0,e1,...,ei,...,enIn energy consumption minimum corresponding to path as nobody
The economized path of machine.
Wherein, unmanned plane is obtained by task point n by formula (1)k-1It is sudden, in task point nkTask point n is flown to after turningrWhen
Corner energy consumption with it is corresponding at a distance from the sum of energy consumption ck-1kr:
ck-1kr=ak-1kr+bkr (1)
In formula (1), ak-1krIndicate unmanned plane by task point nk-1It is sudden, in task point nkTask point n is flown to after turningrWhen
Corner energy consumption, bkrIndicate unmanned plane by task point nkFly to task point nrWhen apart from energy consumption.
The present embodiment needs to calculate first the three-dimensional energy consumption square that all possible path corners of unmanned plane are constituted in N+1 task point
Battle array A={ aijk| i, j, k=1,2 ..., n }, it needs first to be measured the corner of rotor wing unmanned aerial vehicle and energy consumption relationship.Such as Fig. 1,
The flying speed v=4.5m/s (flying speed in application will be also identical with this) of unmanned plane is set, allows unmanned plane along the direction AB
Then rectilinear flight turns θ angle (θ successively selects 0 °, 30 °, 60 °, 90 °, 120 °, 150 ° and 180 °) at B, is further continued for along BC
Direction rectilinear flight.In order to enable the energy consumption that unmanned plane turns different angle under the desired speed is comparable, need to guarantee
For unmanned plane in the case where every kind of corner, the starting point A of energy consumption calculation and the flying speed at end point C are desired speed, also
Need the distance of path ABC all equally long under different steering angles.In order to meet above-mentioned two o'clock requirement, point A and point C is carried out
Following selection: for θ=0 °, 30 °, 60 °, 90 °, 120 °, 150 °, 180 ° of this 7 kinds of situations measure unmanned plane from expectation respectively
Speed starts to carry out the critical point A of decelerating flight0, A30, A60, A90, A120, A150, A180With desired speed is accelerated to since B
Critical point C0, C30, C60, C90, C120, C150, C180.Then in { A0B, A30B, A60B, A90B, A120B, A150B, A180B } in selection
Longest distance, the distance as AB；In { BC0, BC30, BC60, BC90, BC120, BC150, BC180In select longest distance, as
The distance of BC.AB=4m is obtained according to analysis of experimental data, BC=27m (is obtained) after rounding up.
Respectively to unmanned plane along the direction AB rectilinear flight 4m, then at B point turn to θ angle (θ=0 °, 30 °, 60 °,
90 °, 120 °, 150 °, 180 °), it is then repeated 50 times along the flight experiment of BC rectilinear flight 27m again, calculates every kind of corner situation
Under energy consumption of the average energy consumption as the corner, then to corner and average energy consumption carry out quadratic fit obtain it is as shown in Figure 2
Energy consumption and angle relation.
Secondary, the primary and constant term coefficient of institute's polynomial fitting be followed successively by 4.246e-6,1.7738e-4 and
0.18793, the value of constant term is just that 0.188 watt-hour of flight energy consumption of zero i.e. rectilinear flight 31m is extremely approached with corner.
This also illustrate we the total energy consumption of turning can be approximately considered be by unmanned plane rectilinear flight 31m energy consumption and turn to energy consumption structure
At.Total energy consumption is so subtracted to the energy consumption of partial straight lines flight, so that it may obtain unmanned plane in desired speed v=4.5m/s
Under, energy consumed by different steering angles.It can be seen from the figure that steering angle is bigger, energy consumption is bigger, and steering angle with
The truthful data of energy consumption and the conic section being fitted are very close.Therefore it can be calculated and be turned by the quadratic expression
To energy consumption at any angle, then removing the relational model that the constant term in expression formula just obtains unmanned plane steering angle and energy consumption
Are as follows:
fv(θ)=(4.246*10-6)θ2+(1.7738*10-4)θ (2)
In the application scenarios of rotor wing unmanned aerial vehicle auxiliary, one time task execution process be can be described as: unmanned plane is from starting point
(such as service station) sets out, and accesses the task point of all static deployment, task is completed under state of flight, is finally returned to starting point
Prepare next round task execution (as shown in Figure 3).And these task points can according to actual needs branch within the scope of mission area,
It will not generally be completely on straight line.
These task points are seen the vertex of mapping, the part of path that can be flown between any two task point sees mapping
Side.Then according to fv(θ) can calculate each of the three-dimensional energy consumption matrix A of corner composition value.
Secondly, the present embodiment calculates two-dimensional distance energy consumption matrix B={ b of all possible path sections of unmanned planejk|j,k
=1,2 ..., n }, first the flying distance of rotor wing unmanned aerial vehicle and energy consumption relationship are measured in order to calculate B needs.Also
It is to allow unmanned plane it is expected that flying speed v=4.5m/s along rectilinear flight, measures its flight 1m by 50 flight experiments respectively,
The average energy consumption (as shown in Figure 4) of 2m ... 31m, flight energy consumption are substantially proportional to rectilinear flight distance.Then it carries out linear
Fitting, fitting result is that Monomial coefficient is 0.006, constant term 3.01723444781610e-05.Here constant term is non-
Very close in zero, therefore cast out.Unmanned plane is finally obtained under the velocity linear flight progress, rectilinear flight distance with
The relationship of energy consumption is
gv(d)=0.006d (3)
Then according to gv(d) can calculate corner composition apart from each of energy consumption matrix B value.
The characteristics of present invention is according to economized path planning problem, can be by corner and the rotor wing unmanned aerial vehicle energy conservation road apart from combination
Diameter planning problem is converted to mathematical problem:
Synthesis is noted earlier, and corner will solve the problems, such as institute with the rotor wing unmanned aerial vehicle economized path planing method apart from combination
The figure of description is exactly with task point set N={ ni| i=0,1,2 ..., n } it is used as vertex set V={ v0,v1,…,vn(i.e. N and V
Equal) and vertex between figure G=(V, E) of the set as side collection E that is constituted of linear section.And the solution of problem is just
It is to determine which the corner on each vertex selects, because the angle that some vertex of mistake is constituted in figure is depending on coupled
Be other any two vertex, i.e., for current vertex, unmanned plane is, and fly to which vertex sudden from which vertex.I
The vertex in sudden direction is called forerunner vertex, and the vertex in direction of flying to is called descendant vertex.It is not difficult to find out that for scheming G
For, wherein a certain vertex viPredecessor node there is n kind to select method (except v cannot be selectediOneself), and its descendant node has the choosing of n-1 kind
Method is (except cannot select viThe predecessor node of oneself and it).So the vertex v that combinediCorner just have n (n-1) kind it is optional.
Each vertex is such, it is possible to which the set of the corner of formation just has a different corner of (n+1) n (n-1).We want
The solution asked is then selection (n+1) a different corner in this corner set, and the mutual not phase in the vertex of this (n+1) a corner
Together, it serves as and acts only as the forerunner vertex of other primary vertex corners once and serve as and only in the vertex that also meet each corner
The descendant vertex for serving as other primary vertex corners is primary.And optimal solution is that this solution is concentrated so that unmanned plane during flying energy consumption is minimum
That.In order to find optimal energy saving route, if 0-1 matrix
Whether the corner in corner set for indicating vertex is chosen use in route, works as xijkThe angle is indicated when taking 1
Cross task node njA corner (its forerunner vertex is niDescendant vertex is nk) it is chosen as a part of general line, and work as
xijkIndicated when taking 0 the angle i.e. task node njA corner (its forerunner vertex is niDescendant vertex is nk) be not chosen as always
A part of route.According to definition 3.1 and above-mentioned symbol setting, the minimum layout of roads problem of energy consumption based on corner and distance
It can be indicated with following mathematical model:
s.t.
xijk∈ { 0,1 }, (i, j, k=0,1 ..., n) (10)
In model, f (N, X) is objective function, and physical significance is that unmanned plane passes through all task sections of route traversal
The energy consumption of point.Due to considering that path length and corner wherein included influence flight energy consumption bring here, so its parameter
For influence route shape task node position N, and cross vertex corner selection matrix X.These parameters just can be with
Determine a mistake and the only loop pattern of excessively primary each task node.And route determination, flight energy consumption also determine that.
Formula 5 gives embodying for objective function f, works as xijkIndicated task node njSome corner (its forerunner
Vertex is niDescendant vertex is nk) whether it is chosen as a part of general line, ei,jIndicate unmanned plane from node niFly to node nj
Required energy can pass through function e (ninj) and e (∠ ninjnk) acquire.
Formula 6 indicates that each task node will occur once as subsequent tasks node, and can only occur primary.
Formula 7 indicates that each task node will occur once as predecessor task node, and can only occur primary.
Formula 8 indicates that each task node will occur once as selected corner vertex, and can only occur primary.
Formula 9 is that can only have the loop comprising all vertex in V in constraints graph G=(V, E), does not occur the feelings of multiple rings
Condition.Wherein, S is the random subset of vertex set V, and | S | it is the number of vertices in set S, ∑i∈S∑j∈S∑k∈sxijkIt is in ring
The item number on side.Know that the degree on each vertex is less than equal to 2 by formula 3.9,3.10 and formula 3.11.And each vertex only in ring
Degree be equal to 2, the item number and number of vertices on side are equal.Therefore only ∑i∈s∑j∈s∑k∈Sxijk=| S | when, it just deposits in figure
In ring.And the number on side is less than the number on vertex in the figure that any proper subclass of the limitation of formula 3.12 V is constituted, and allows for appointing for V
The figure that proper subclass S is constituted of anticipating is not ring.And current vertex is connect with the forerunner vertex in the angle in the corner on excessively each vertex
Side be exactly in the corner on its forerunner vertex by the forerunner vertex and it descendant vertex (being in fact exactly current vertex) company
Connect constituted side.Crossing the side that current vertex is connect with the descendant vertex in the angle in the corner on each vertex was exactly thereafter
After side constituted by the descendant vertex and its forerunner vertex (being in fact exactly current vertex) connection in the corner on vertex.In this way
With regard to foring unique loop uniquely comprising all nodes in the corresponding figure of problem.
Element x of the formula 10 given selection matrix XijkValue be 0 or 1, indicate whether corresponding corner is selected.
The rotor wing unmanned aerial vehicle economized path planning problem of the corner and distance set modeled above is that a NP is asked completely
Topic.
Prove: for a problem, if can prove that, 1. the problem is np hard problem；2. can be by known some NP
Complete problem specification is to the problem.So being defined by np complete problem with this problem known to method of proof is exactly that NP is asked completely
Topic.
Since the rotor wing unmanned aerial vehicle economized path planning problem of corner and distance set is a non-convex optimization problem.And
Non-convex optimization problem is np hard problem.So the rotor wing unmanned aerial vehicle economized path planning problem of corner and distance set topic is NP hardly possible
Problem.
Again because in the minimum layout of roads problem of unmanned plane energy consumption based on corner and distance, if corner at node
If bring energy consumption is ignored, then the minimum layout of roads problem of unmanned plane energy consumption based on corner and distance is just degenerated for classics
Traveling salesman problem, i.e., classical traveling salesman problem can be the minimum layout of roads of unmanned plane energy consumption based on corner and distance by specification
This special case situation of problem.
And classical traveling salesman problem is np complete problem.So the minimum route of unmanned plane energy consumption based on corner and distance
Planning problem is also np complete problem.
Experimental verification:
By method " a kind of corner and the rotor wing unmanned aerial vehicle economized path planing method apart from combination " brief note in the present invention
For PPDAEC；And existing be used alone is abbreviated as PPDEC according to the method for combining Greedy strategy apart from as path planning.So
Afterwards, one 90,000 square metres of square mission area is simulated, 1 service is disposed in designated position (0,0) in this region
It stands, the unmanned plane expectation flying speed of n task node of random placement, setting is experience energy conservation flying speed v=4.5m/s.
Emulation 1 is shown the economized path feature of the method for the present invention planning.
First of all for the difference of the PPDAEC method and PPDEC method that can intuitively see in the present invention, when to n=50
Path planning is done respectively with PPDAEC method and PPDEC method to be emulated.As figure 5 illustrates, it can be seen that PPDAEC method obtains
Path (Fig. 5 (b)) it is smoother, be more suitable for flying；And the path (Fig. 5 (a)) that PPDEC method obtains has more biggish turn
Angle.
Emulation 2, verifies the energy-saving effect of the method for the present invention planning path.
In emulation, the n=30,35,40 ..., 70 this 9 kinds of different task interstitial contents the case where, respectively to every kind of task
100 kinds of different distributions under points advise task point access path using PPDAEC method and PPDEC method of the invention
Draw, and the energy consumption of institute's planning path be compared, every kind of task points now in 100 different distributions energy consumption mean value and mark
Quasi- difference is as shown in Figure 6.It can be seen from the figure that no matter the path of which kind of method planning, the task node of access is more, unmanned plane
Energy consumption is higher.But on the whole, it regardless of the task node of access is mostly or few, is advised using PPDAEC method of the invention
It the path drawn will be more energy efficient than the path that traditional PPDEC method is planned.
Energy conservation in the case of purpose of counting simultaneously different task is than having also been made corresponding comparison (energy saving ratio=1- here
PPDAEC energy consumption/PPDEC energy consumption), as shown in Figure 7.
Average energy saving ratio 3.79% in Fig. 7 in the case of 9 kinds, standard deviation 0.25%.While it is also seen that, identical
In the region of size, influence of the task point number to energy saving ratio is little.The energy conservation value more relatively stable than being one.
Live flying experiment 1 compares displaying to the actual effect of the economized path of the method for the present invention planning.
In order to illustrate the validity and feasibility of the method for the present invention, true flight experiment has been carried out.It is set in experiment
Then 24 target points have carried out path planning using PPDAEC method and PPDEC method respectively, carry out to planning path practical
It flies and records related flying quality and carried out the processing of data offline and compared.Experimental results are shown in figure 8, in figure (a)
It is (b) path of PPDEC method planning for the path of PPDAEC method planning.Numeral mark in Fig. 8 illustrates target point
Access order because the path found is loop, wherein labeled as 25 terminating point i.e. starting point 1.Yellow line is
The ideal path of planning, blue line indicate the path of practical flight.Due to the influence of wind-force, blue line path is not complete with yellow line path
Full weight is closed.We are it is not difficult to find that the path locus relative smooth that the method for the present invention is planned, rare sharp corners in figure.In this way
Path unmanned plane can be made to keep a motion state relatively at the uniform velocity as far as possible in flight course, reduce energy and disappear
Consumption.Actual flight is the result shows that the path of the path ratio PPDEC method planning of PPDAEC method planning can save 4.1%
Energy.
Claims (2)
1. a kind of corner is with the rotor wing unmanned aerial vehicle economized path optimization method apart from combination, the n+1 for that need to pass through to unmanned plane
A task point carries out path planning, which comprises the following steps:
Step 1, set N={ n is constituted by n+1 task pointi| i=0,1,2 ..., n }, take i=0；
Step 2, task point n is taken from set NiAs current task point, by current task point niIt is put into path LiIn, and will work as
Preceding task point niIt is deleted from set N, if path LiEnergy consumption ei=0；
Step 3, a task point n is looked in Nj, so that bijMinimum, by task point njIt is put into path LiIn, and by task point njFrom
It is deleted in set N, ei=ei+bij, wherein bijIndicate unmanned plane by current task point niFly to task point njWhen apart from energy consumption；
Step 4, by path LiIn the last one task point as task point nk, by path LiMiddle current task point it is previous
Task point is as task point nk-1, a task point n is found in set Nr, so that ck-1krMinimum, wherein ck-1krIndicate unmanned plane by
Task point nk-1It is sudden, in task point nkTask point n is flown to after turningrWhen corner energy consumption with it is corresponding at a distance from the sum of energy consumption,
By task point nrIt is added to path LiIn and in set N by task point nrIt deletes, ei=ei+ck-1kr；
Step 5, step 4 is repeated, until set N is empty set；
Step 6, ei=ei+ck-1ki, ck-1kiIndicate unmanned plane from path LiMiddle penultimate task point nk-1It is sudden, and in path
LiIn the last one task point nkInitial task point n is flown to after turningiWhen corner energy consumption and corresponding apart from the sum of energy consumption；
Step 7, i=i+1 goes to step 2 if i is less than or equal to n, no to then follow the steps 8；
Step 8, to acquired n+1 set of paths { L0,L1,...,Li,...,LnAnd corresponding energy consumption set { e0,
e1,...,ei,...,en, by energy consumption set { e0,e1,...,ei,...,enIn energy consumption minimum corresponding to path as nobody
The economized path of machine.
2. rotor wing unmanned aerial vehicle economized path optimization method as described in claim 1, which is characterized in that obtain nothing by formula (1)
It is man-machine by task point nk-1It is sudden, in task point nkTask point n is flown to after turningrWhen corner energy consumption with it is corresponding at a distance from energy consumption
The sum of ck-1kr:
ck-1kr=ak-1kr+bkr (1)
In formula (1), ak-1krIndicate unmanned plane by task point nk-1It is sudden, in task point nkTask point n is flown to after turningrWhen corner
Energy consumption, bkrIndicate unmanned plane by task point nkFly to task point nrWhen apart from energy consumption.
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