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采用Dubins路径和改进快速随机扩展树(RRT)相结合的方法对多障碍和威胁条件下无人机协同多任务分配的快速航路预估问题进行研究。使用分段Dubins最优路径满足多任务指派航迹的可飞行性,在初始Dubins路径与多障碍物或威胁相交时,通过改进RRT方法快速实现路径的障碍和威胁规避,并采用基于B样条曲线的航迹平滑方法生成平滑可跟踪的航迹,确保了任务分配结果的可行性。
The method of Dubins path and improved fast random extension tree (RRT) are used to study the fast route estimation problem of cooperative multi-mission assignment under multi-obstacle and threat conditions. The subdivision Dubins optimal path is used to satisfy the flightability of multitask assignment trajectory. When the initial Dubins path intersects with multiple obstacles or threats, the improved RRT method is used to quickly achieve obstacle avoidance and threat avoidance, Curve smoothing method to generate a smooth trajectory track to ensure that the allocation of the results of the task.