双架次无人机(UAV)协同侦察的航路轨迹研究

Double Unmanned Aerial Vehicle's Path Planning for Scout

本文介绍了交叉熵算法的基本原理、具体的建模方法、交叉熵算法的实时性和鲁棒性的特点,在实际应用中显示了良好的效果。鉴于军事侦察时间的紧迫性和空间的全面性的特点,依据无人机的具体应用技术特点,本文利用交叉熵算法对双架次的无人机的侦察路径进行规划,为路径规划提供了一种新的解决方法,并保证了侦察任务的路径规划在时间和效能上达到最优。

This paper introduces the basic principle of the cross-entropy method, the way of modeling, the real-time prop- erty and robustness,and the applications. In military scout , Unmanned Aerial Vehicle（UAV） is a special tool, with many advantages in real-time and global space. A new method based on the cross-entropy method is used for the optimal way of double UAV＇s path planning.