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针对局域动态环境中无人机实时航路规划展开研究,提出了一种基于速度矢量场的二维动态实时航路规划方法。通过建立不同空间特征区域速度场模型,实现了速度场驱动下的无人机航路规划。文中采用虚拟目标点法解决了速度矢量场航路规划局部陷阱问题;采用探测步长法,实现了无人机机动约束的融合,解决了航路可飞性问题;在动态实时规划应用中,确立了环境信息更新方法,实现了对动态环境的描述。通过仿真验证,表明速度矢量场法能够根据动态环境信息及时规避威胁到达目标点,算法具有良好的完备性和实时性,适用于局域动态环境中的快速航迹规划。
Aiming at the real-time route planning of UAV in local dynamic environment, a two-dimensional dynamic real-time route planning method based on velocity vector field is proposed. By establishing the velocity field model of different spatial characteristics, the UAV route planning driven by velocity field is realized. In this paper, the virtual target point method is used to solve the local trap problem in the route planning of speed vector field. The exploration step method is adopted to realize the fusion of the UAV maneuvering constraints and to solve the problem of route flightability. In the application of dynamic real-time planning, Environmental information update method to achieve a description of the dynamic environment. Simulation results show that the speed vector field method can timely reach the target point according to the dynamic environment information. The algorithm has good completeness and real-time performance and is suitable for fast track planning in the local dynamic environment.