|国家预印本平台
首页|无人机自主飞行航迹规划方法研究

无人机自主飞行航迹规划方法研究

Study on UAV autonomous flight route planning

中文摘要英文摘要

本文对无人机的航迹规划问题进行了研究,首先综合考虑敌方的雷达威胁和无人机的燃油威胁后,运用voronoi图建立无人机的初始航迹,随后建立雷达威胁和燃料威胁模型,加权得到它们的综合威胁代价函数,利用蚁群算法对初始航迹进行优化。接着将模型扩展到三维空间,将地形特征和雷达威胁等信息等效融合成有效的地形信息,利用平滑处理算法对地形进行处理,得到包含地形和雷达信息的数字地图。考虑到无人机自身操作性能(飞行高度、最大偏航角和最大法向加速度)的限制,建立相应的数学模型,再通过改进传统的蚁群算法,从而对初始的航线进行优化。最后利用以上的模型和算法进行了仿真研究,得到无人机最优的航线,进一步验证了模型的合理性、正确性。

his article UAV Route Planning conducted a study, first of all taken into account the enemy's radar threat and the threat of fuel after the UAV, UAV using voronoi diagram to establish the initial track, followed by the establishment of radar threats and fuel threat model, weighted by their integrated threat cost function, the ant colony algorithm to optimize the initial trajectory. Then the model is extended to three-dimensional space, the terrain features and radar threats, the equivalent integration of information into effective terrain information, use smoothing algorithms to process the terrain, topography and radar information are included in the digital map. Taking into account the operational performance of UAV itself (altitude, the maximum yaw angle and the maximum normal acceleration) limit, the corresponding mathematical model, and through improvement of traditional ant colony algorithm to optimize the initial route. Finally, the above model and algorithm simulation, get the optimal UAV routes, and further validation of the model is reasonable, correct.

刘彬彬、刘寿宝、孙国太、雍定钰

航空航天技术航空自动化技术、自动化技术设备

voronoi图代价函数蚁群算法平滑处理算法

voronoi diagramCost function2-optAnt colony algorithmSmoothing algorithm

刘彬彬,刘寿宝,孙国太,雍定钰.无人机自主飞行航迹规划方法研究[EB/OL].(2010-09-08)[2025-08-18].http://www.paper.edu.cn/releasepaper/content/201009-210.点此复制

评论