不确定环境下的侦察无人机自主航路规划仿真

Autonomous path planning simulation of UAVs in uncertain environment

自主式无人机是无人机发展的必然趋势,不确定环境下的航路规划是无人机航路规划研究的新领域。为了研究战时条件下侦察无人机的自主航路规划,根据无人机的控制系统工作方式,建立了仿真模型框架,并在此基础上开展仿真研究。首先,针对战时条件下侦察无人机执行任务的不确定环境,从战场使用的实际情况出发,建立了基于目标存在概率的环境信息模型;然后,根据无人机机载探测设备探测区域建立了探测模型,提出了航路控制决策模型,并采用动态规划进行航路规划。最后,设计了一个无人机侦察不确定环境的仿真试验,仿真结果验证了该方法的有效性。

Unmanned Air Vehicles（UAVs） with autonomous capability is a development trend of UAVs, and path planning of UAVs in uncertain environment is a new area for study. We studied autonomous path planning UAVs under combat conditions. We proposed a model framework according to the current control mode of UAVs, and then carried out simulation based on it. Firstly, considering the uncertain environment where reconnaissance UAVs taking tasks in wartime, an environment information model was built based on the existence probability of targets. Then, a sensor searching model was proposed to calculate the searching area of the prospecting apparatus carried by UAVs. A control model was put forward to make decisions on which path to choose. And a dynamic programming method was applied for path programming. Lastly, a simulation test was designed for UAVs searching uncertain environment, and the simulation results proved the effectiveness of the method.