基于机动动作库的实时轨迹生成与仿真研究

Research on Real-Time Trajectory Generation based on Tactical Maneuvers Data Base

论述了基于机动动作库的实时轨迹生成方法,根据环境和任务要求进行在线决策,选取机动动作库中合适的机动动作,最终实时生成无人机所需要的机动轨迹。仿真结果表明,这种方法具有实时性强、生成轨迹易于跟踪控制等优点。

Autonomous trajectory generation for UAVs is to decide vehicles motion and find a smooth trajectory in complex environments. A trajectory generation approach is proposed, which is based on tactical trajectory data base. Using this approach, according to environments and task requirements, chooses appropriate maneuver and generates the proper real-time trajectory autonomously. Simulation results show that the real-time of this approach is good, and the generated trajectory is easy to be followed.