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针对复杂多变的战场环境,无人机(UAV)在执行任务遇到突发威胁时,提出了一种人机合作的实时航迹规划方法。由人决策和分析威胁信息,给出规避方向和任务紧急程度,无人机据此采用模糊推理的方法,自主解算得到引导点的位置,牵引无人机改变航向,规避突发威胁。仿真结果表明,采用人机合作的实时航迹规划可以将人的智能决策和无人机的快速计算能力有机结合起来,规划更加优化的航迹,能动态调整引导点的位置,可根据任务的紧急程度灵活选择规避路径。
In response to the complex and ever-changing battlefield environment, the unmanned aerial vehicle (UAV) proposed a man-machine cooperation real-time route planning method in the face of emergent threats. By making decisions and analyzing the threat information, the direction and mission urgency are given out. UAVs adopt the method of fuzzy inference so as to obtain the position of the guiding point autonomously, and pull the UAV to change course and avoid unexpected threats. The simulation results show that the real-time trajectory planning using man-machine cooperation can combine the human intelligent decision-making and the UAV’s rapid computing ability to plan a more optimized trajectory and dynamically adjust the position of the guiding point according to the task Urgent choice of flexibility to avoid the path.