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基于嵌入式Linux的超小型无人机航路规划 被引量:1

Path - Planning Based on Embedded Linux for Super Miniature Unmanned Air Vehicle
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摘要 无人机(UAV)的发展使其功能越来越自主、智能。在无人机发展的众多研究领域当中,航路规划是其中先进任务规划系统中的关键组成部分,它的可靠性对UAV系统的整体性能有着重要影响。着重介绍了基于嵌入式Linux的SUAV导航系统中的路径规划算法及其软件编程技术,同时探讨了Voronoi图的Sweep-line构造方法和求最短路径的Dijkstra算法,并通过实例验证了所用方法和所编软件的有效性和可靠性。 Unmanned air vehicles of the future will be more autonomous than the remotely - piloted platforms in use today. Among the many open issues in their development, path planning is primarily important. In this paper, the path - planning for super miniature unmanned air vehicle' s navigation system based on embedded linux is introduced firstly. At the same time, the methods of computing voronoi diagram and the Dijkstra algorithm to get a shortest way are discussed. Then the result of implementation demonstrates the path - planning algorithm is effective and reliable.
出处 《机电一体化》 2005年第2期56-59,共4页 Mechatronics
基金 上海市科学发展基金重大专项(02DZ11019)。
关键词 嵌入式LINUX a算法 路径规划算法 任务规划 最短路径 航路规划 软件编程 无人机(UAV) UAV 导航系统 path - planning SUAV voronoi diagrams Dijkstra algorithm
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参考文献5

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  • 1董世友,龙国庆,祝小平.无人机航路规划的研究[J].飞行力学,2004,22(3):21-24. 被引量:14
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  • 4Erik Paul Anderson. Extremal Control and Unmanned Air Vehicle Trajectory Generation [D]. Brigham Young, USA: Department of Electrical and Computer Engineering of Brigham Young University, 2002.

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