基于VORONOI图的无人机空域任务规划方法研究

VORONOI Diagram Based Spatial Mission Planning for UAVs

无人机任务规划系统对充分发挥无人机自主控制与飞行和自主执行任务的能力起着十分关键的作用。在分析VORONOI图的性质的基础上,以压制敌防空火力作战任务想定为背景研究基于VORONOI图的无人机任务规划技术,重点讨论了规划环境建模、航路代价计算和初始航路选择问题。最后对该方法进行了时间和空间性能分析。

Mission planning systems play important roles in autonomous intelligent control and mission capability of UAV. On the basis of analyzing VORONOI Diagrams' attributes, a VORONOI-Diagram-based mission planning approach for UAVs is studied. Under the scenario of Suppression of Enemy Air Defense, we focus on the planning environments modeling, flight path cost computing and initial cooperating paths selecting. Using this method the planning space dimensions of UAV can be reduced. Also this approach enables multiple UAVs to find spatial cooperating paths much easier. Finally, the analysis of temporal and spatial performance is discussed.