摘要
针对无人机的自身特点和飞行任务要求,研究了流函数法在无人机航路规划中的应用.在二维平面中,将地形障碍和雷达等威胁等效为圆柱,无人机目标点等效为汇(sink),推导了流体运动的复势.提出了流函数法避障时存在滞点问题的解决方案,并将其应用到存在多个障碍物的环境中.考虑无人机最小平飞距离和最小转弯半径约束,用流函数法得到了无人机的规划航路.仿真结果表明,修正后的流函数法可以规划出平滑的航路,同时满足无人机航路规划的要求.
Considering UAV＇s characteristics and flight task requirements,a path planning method based on stream functions for UAV is presented.With threats such as terrain obstacles and radar treated as circles in 2-Dimentional plane,while UAV＇s destination treated as sink,complex potential of fluid flow is derived.Stagnation point problem is solved in conditions both with single obstacle and multiple obstacles.Adding minimum level flight distance and minimum turning radius constraint to the present path planning,UAV＇s trajectory is obtained.The simulation results show that improved stream functions could plan smooth trajectory,satisfying UAV＇s requirements.
出处
《战术导弹技术》
2011年第5期27-32,44,共7页
Tactical Missile Technology
关键词
流函数
滞点
航路规划
无人机约束
势场函数
stream functions
stagnation point
path planning
UAV constraint
potential fields function
