无人机航路规划的研究

Study on Path Planning for Unmanned Aircraft Vehicle

无人机的航路规划要求满足威胁回避和可飞性。采用分层的思想,基于Voronoi图产生初始航路,利用三次样条插值法平滑航路点产生无人机可飞航路,同时利用飞行过程中的信息来更新航路进行重规划。仿真结果表明了算法的有效性。

Unmanned aircraft vehicle should have the capability that generates threat avoiding and feasible flying path. In this course the key idea is decomposition strategy, a preliminary path is generated from a Voronoi diagram based on threat locations; cubic spline is used to connect these waypoints and refine the path into a flyable path. This approach also allows pop-up threat that occurs along the path to be handled efficiently. Simulation results show the approach availably.