一种动态环境下无人机自主导引方法

An Autonomous Guidance Approach of UAV Under Dynamic Environment

提出了一种动态不确定环境下无人机(UAV)自主预测导引方法。考虑到无人机探测范围和运动学特性,构建了无人机分区段自主导引模型和轨迹指令求解模型;设计了相应的评价函数;考虑到算法的复杂性,提出采用指令量化和粒子群算法求解导引轨迹指令;并对模型参数取值问题进行了深入的讨论。仿真结果表明,该方法能够实现自主导引无人机迅速接近目标,并对所探测到的威胁进行实时回避,能够实时性运行,具有工程可实现性。

An autonomous prediction guidance approach of unmanned aerial vehicle （UAV） under the dynamic and uncertain environment was presented. In consideration of sensor range and kinematics of UAV, a partition autonomous guidance model and a trajectory command solution model were constructed; an evaluation function was designed; taking complexity of the algorithm into account the trajectory command was solved by the command quantification and particle swarm optimization （PSO） algorithm; selections of the parameters of the model were discussed. The simulated results show that the approach can guide the UAV autonomously to get close to the target as fast as possible and avoid the threats sensed by the UAV simultaneously, is executed real time and easy to be realized.