摘要
无人机航路规划往往指无人机在初始位置、终止位置和一些目标任务结点确定之后的航迹优化问题;在无人机飞行任务执行过程中,无人机需要在参考飞行航线的约束下,根据局部地形、地貌、障碍、威胁等信息以及飞机本身机动能力的限制,实时的计算出飞行航路,并跟随该航迹完成飞行任务;在利用Dynapath(动态路径)算法进行参考航线优化的过程中,考虑了飞机机动性能的限制;在此基础上,详细讨论了参考航线由多航段组成时航路点的处理方法并进行了计算机仿真,仿真结果表明该方法可以比较理想地进行航路点的处理,得到比较良好的最优航迹。
Path planning of UAV （unmanned air vehicles） usually means optimization problem with certain original position, final position and task nodes. During implementing the task, the UAV tracks the real time trajectory to finish the task. It is often calculated in term of terrain, physiognomy, obstacle, threaten, and itself maneuverability. A digital terrain data based optimum real time trajectory generation algorithm----the Dynapath algorithm is used to get reference path. Specially, rules of changing the desired track leg and smoothing path with many segments were discussed in detail. The simulation results indicate that the method performs well when dealing with the path composed of many route segments.
出处
《计算机测量与控制》
CSCD
2008年第8期1177-1179,1194,共4页
Computer Measurement &Control
