无人飞行器航迹规划方法综述

Introduction to unmanned air vehicle route planning methods

首先从不同角度给出航迹规划的两种定义,把航迹规划问题拆分为规划空间、航迹表示、约束条件、目标函数、规划算法五个子问题,提出了适用于各类无人飞行器航迹规划问题分析求解的过程模型。对规划空间构造方法、目标函数、规划算法进行分类比较,并给出每种方法的优、缺点及适用范围,辅助规划人员针对具体需求快速明确规划思路并选择算法。最后指出了航迹规划未来面临的新问题、新挑战。

Three definitions of route planning are given from different views in order to have a common conception for people from different research areas. The route planning problem is divided into five sub issues--configuration space, path representation, constraints, objective function and planning algorithm. Then a general process of analyzing the route planning problem for different unmanned air vehicles is modeled. With the help of classifications of configuration space, objective function and planning algorithm, and analysis of their merits and defects respectively, route planning designers can figure out solutions and make a good choice of the route planning algorithm. Finally, new problems and challenges in the route planning field are given as well as some suggestions.