论文部分内容阅读
针对无人机(UAV)飞行时与其他飞行器发生冲突的问题,提出了基于扰动流体的避撞航路规划算法。基于入侵飞机的运动信息引入相对初始流场,用扰动矩阵量化表示入侵机模型对相对初始流场的扰动影响,计算相对扰动流场,进而得到实际流场流线即规划的无人机避撞航路。同时利用滚动优化思想,考虑无人机性能约束要求,实时优化影响系数,保证规划航路的可飞性。仿真结果表明,该算法能够实时规划出满足无人机可飞性要求的避撞航路。
Aiming at the collision of UAV with other aircraft, a collision avoidance route planning algorithm based on disturbing fluid was proposed. The relative initial flow field is introduced based on the movement information of the invading aircraft. The perturbation matrix is used to quantify the influence of the intruder model on the disturbance of the initial initial flow field. The perturbation flow field is calculated, and the actual flow field, Route. At the same time, by using the idea of rolling optimization and considering the requirements of UAV performance constraints, the influence coefficient is optimized in real time to ensure the flightability of planned routes. The simulation results show that this algorithm can real-time plan the collision avoidance route that meets the requirement of UAV flightability.