基于空间分解网络的无人机航路规划

Space Decomposition Network Based Path Planning for Unmanned Air Vehicles

设计了一种无人机航路规划方法,首先通过作战任务想定构造Voronoi图,利用空间分解网络和Rosenthal算法确定初始航路,然后进行样条插值对初始航路光顺修正,最终得到一条可飞航路。仿真计算表明该方法简单、有效。

A path planning method for UAVs is presented. constructed, based on this, space decomposition network First, through mission scenario, a Voronoi diagram is model and Resenthal algorithm are used to compute the coarse path - a series of straight - line segments and not flyable. Then, using a series of cubic splines to connect these straight - line segments, the path is refined into an optimal one that is flyable for the UAVs. Simulation result shows that this method is simple, effective and of a certain value in application.