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提出改进的流函数法为无人机在复杂地形环境下进行航路规划。针对传统流函数法在多个障碍物航路规划时存在的问题,进行了理论分析,并给出一种虚拟动态目标的方法,解决了两个障碍物重叠情况的航路规划问题。为满足无人机的机动约束,将无人机自身的约束条件转化为虚拟障碍,以保证规划出的航路可飞。仿真结果表明,该方法能够在复杂地形条件下快速地为无人机规划出一条可飞的航路,具有较好的工程应用价值。
An improved stream function method is proposed for UAV route planning in complex terrain environment. Aiming at the problems existing in the traditional flow function method in multiple obstacles route planning, theoretical analysis is given and a method of virtual dynamic target is given to solve the problem of route planning with two obstacles overlapped. In order to meet the maneuver constraints of UAVs, the UAV’s own constraints are transformed into virtual obstacles to ensure the planned routes can fly. Simulation results show that this method can quickly plan a flyway for UAV under complex terrain conditions and has good engineering application value.