Urban combat environments pose complex and variable challenges for UAV path planning due to multidimensional factors,such as static and dynamic obstructions as well as risks of exposure to enemy detection,which threat...Urban combat environments pose complex and variable challenges for UAV path planning due to multidimensional factors,such as static and dynamic obstructions as well as risks of exposure to enemy detection,which threaten flight safety and mission success.Traditional path planning methods typically depend solely on the distribution of static obstacles to generate collision-free paths,without accounting for constraints imposed by enemy detection and strike capabilities.Such a simplified approach can yield safety-compromising routes in highly complex urban airspace.To address these limitations,this study proposes a multi-parameter path planning method based on reachable airspace visibility graphs,which integrates UAV performance constraints,environmental limitations,and exposure risks.An innovative heuristic algorithm is developed to balance operational safety and efficiency by both exposure risks and path length.In the case study set in a typical mixed-use urban area,analysis of airspace visibility graphs reveals significant variations in exposure risk at different regions and altitudes due to building encroachments.Path optimization results indicate that the method can effectively generate covert and efficient flight paths by dynamically adjusting the exposure index,which represents the likelihood of enemy detection,and the path length,which corresponds to mission execution time.展开更多
According to the characteristic and the requirement of multipath planning, a new multipath planning method is proposed based on network. This method includes two steps： the construction of network and multipath searc...According to the characteristic and the requirement of multipath planning, a new multipath planning method is proposed based on network. This method includes two steps： the construction of network and multipath searching. The construction of network proceeds in three phases： the skeleton extraction of the configuration space, the judgment of the cross points in the skeleton and how to link the cross points to form a network. Multipath searching makes use of the network and iterative penalty method （IPM） to plan multi-paths, and adjusts the planar paths to satisfy the requirement of maneuverability of unmanned aerial vehicle （UAV）. In addition, a new height planning method is proposed to deal with the height planning of 3D route. The proposed algorithm can find multiple paths automatically according to distribution of terrain and threat areas with high efficiency. The height planning can make 3D route following the terrain. The simulation experiment illustrates the feasibility of the proposed method.展开更多
针对知识推理模型在捕获实体之间的复杂语义特征方面难以捕捉多层次语义信息,同时未考虑单一路径的可解释性对正确答案的影响权重不同等问题,提出一种融合路径与子图特征的知识图谱(KG)多跳推理模型PSHAM(Hierarchical Attention Model ...针对知识推理模型在捕获实体之间的复杂语义特征方面难以捕捉多层次语义信息,同时未考虑单一路径的可解释性对正确答案的影响权重不同等问题,提出一种融合路径与子图特征的知识图谱(KG)多跳推理模型PSHAM(Hierarchical Attention Model fusing Path-Subgraph features)。PS-HAM将实体邻域信息与连接路径信息进行融合,并针对不同路径探索多粒度的特征。首先,使用路径级特征提取模块提取每个实体对之间的连接路径,并采用分层注意力机制捕获不同粒度的信息,且将这些信息作为路径级的表示;其次,使用子图特征提取模块通过关系图卷积网络(RGCN)聚合实体的邻域信息;最后,使用路径-子图特征融合模块对路径级与子图级特征向量进行融合,以实现融合推理。在两个公开数据集上进行实验的结果表明,PS-HAM在指标平均倒数秩(MRR)和Hit@k(k=1,3,10)上的性能均存在有效提升。对于指标MRR,与MemoryPath模型相比,PS-HAM在FB15k-237和WN18RR数据集上分别提升了1.5和1.2个百分点。同时,对子图跳数进行的参数验证的结果表明,PS-HAM在两个数据集上都在子图跳数在3时推理效果达到最佳。展开更多
基金supported by the Ministry of Industry and Information Technology(No.23100002022102001)。
文摘Urban combat environments pose complex and variable challenges for UAV path planning due to multidimensional factors,such as static and dynamic obstructions as well as risks of exposure to enemy detection,which threaten flight safety and mission success.Traditional path planning methods typically depend solely on the distribution of static obstacles to generate collision-free paths,without accounting for constraints imposed by enemy detection and strike capabilities.Such a simplified approach can yield safety-compromising routes in highly complex urban airspace.To address these limitations,this study proposes a multi-parameter path planning method based on reachable airspace visibility graphs,which integrates UAV performance constraints,environmental limitations,and exposure risks.An innovative heuristic algorithm is developed to balance operational safety and efficiency by both exposure risks and path length.In the case study set in a typical mixed-use urban area,analysis of airspace visibility graphs reveals significant variations in exposure risk at different regions and altitudes due to building encroachments.Path optimization results indicate that the method can effectively generate covert and efficient flight paths by dynamically adjusting the exposure index,which represents the likelihood of enemy detection,and the path length,which corresponds to mission execution time.
基金supported by the National High Technology Research and Development Program of China(2007AA12Z166)
文摘According to the characteristic and the requirement of multipath planning, a new multipath planning method is proposed based on network. This method includes two steps： the construction of network and multipath searching. The construction of network proceeds in three phases： the skeleton extraction of the configuration space, the judgment of the cross points in the skeleton and how to link the cross points to form a network. Multipath searching makes use of the network and iterative penalty method （IPM） to plan multi-paths, and adjusts the planar paths to satisfy the requirement of maneuverability of unmanned aerial vehicle （UAV）. In addition, a new height planning method is proposed to deal with the height planning of 3D route. The proposed algorithm can find multiple paths automatically according to distribution of terrain and threat areas with high efficiency. The height planning can make 3D route following the terrain. The simulation experiment illustrates the feasibility of the proposed method.
