论文部分内容阅读
给出了一个实时、可行的多UCAV航迹规划和控制算法.构建了多UCAV航迹规划的系统总体结构;提出以协同时间作为指标建立协同管理层的思想,并给出了多UCAV协同飞行时间的确定方法;基于voronoi图的方法规划了UCAV航路点路径;利用开关控制法进行了航迹控制.用Matlab仿真验证了算法的有效性.
A real-time and feasible multi-UCAV flight path planning and control algorithm is given, and the overall system architecture of multi-UCAV flight path planning is constructed. The idea of establishing collaborative management layer based on coordination time is proposed. The method of determining the time, the path of UCAV waypoint based on voronoi diagram, the path control using switch control method, and the effectiveness of the algorithm is verified by Matlab simulation.