考虑时间约束的无人飞行器航迹规划

Path Planning for UAV Considering Time Constraint

在分析时间误差分配的基础上,本文提出了一种考虑时间约束的航迹规划方法。该方法对传统的航迹结构进行了改进,通过速度调整策略和在代价函数中加入时间约束驱使算法找到使到达目标点时间误差尽可能小的航迹。同时,分别研究了起飞时间误差,速度调节能力及飞行速度误差三个因素对到达目标点时间误差的不同影响。

Based on the analysis of time error assignment,a path planning method for UAV considering time constraint is presented in this paper.The proposed method modified the traditional path structure.The path with little time error to arrive target is found through velocity adjust strategy and the time constraint added to cost function.Finally,different effects of launch time error,velocity adjust ability and flight velocity error on the time error of arriving target are studied respectively.