摘要
研究无人机在复杂战场环境中的实时航线规划问题。提出一种基于多优化策略RRT的无人机实时航线规划算法,解决了无人机在敌方雷达威胁密集部署环境下,面对突发威胁实时规划航线,实现安全飞行的问题。首先精确建立防空雷达模型,有效压缩雷达威胁空间;进一步设计基于目标启发的优化策略使算法能够快速收敛。采用冗余节点裁剪的策略减小航线长度,提高航线平滑性。仿真结果表明,该算法能够有效规避突发威胁,生成航线优化性良好。基于多优化策略RRT的无人机实时航线规划算法具备良好的实时性和优化性,能够满足复杂环境下无人机的安全飞行要求。
UAV real-time trajectory planning in complicated battlefield is researched. The MORRT based UAV real-time trajectory planning algorithm is proposed to ensure the safe fly in the high density of deploy radar environment with emergency threatens. First,radar model is established precisely and the threaten space is reduced efficiently. Then the target heuristic strategy is designed to make the RRT algorithm convergent quickly. Finally,redundant points cutting strategy can reduce the trajectory length and improve its smoothness. Simulation results show that this algorithm can avoid the emergent threatens promptly and generate trajectory with good optimization. The proposed algorithm can make the UAV execute mission safely in complicated environment.
出处
《火力与指挥控制》
CSCD
北大核心
2017年第12期115-119,124,共6页
Fire Control & Command Control
关键词
无人机
多优化策略
快速扩展随机树
实时
航线规划
UAV, multi-optimization, Rapidly exploring Random Tree（RRT）, real-time, trajectoryplanning
作者简介
李俊涛（1973-）,男,湖北襄樊人,副教授.研究方向：无人机控制与任务规划.
