利用动态规划和电势理论规划UAV三维航迹

UAV 3D trajectory planning by using dynamic programming and potential theory

用改进的电势理论规划无人机的三维航迹。充分考虑了地形威胁、火力及雷达威胁同时存在的情况,并对它们的权重对航迹规划的影响进行了研究。通过限制航线到包含任务起止点直线的距离,不但克服了电势法无法收敛目标点的问题,而且可以缩短飞行航程;研究惩罚函数中各因素不同权重对飞行航线的影响,选择出最优权重系数;通过仿真试验可知,该方法能够成功地为无人机规划出安全的飞行路径。

A modified potential theory is utilized to plan for three-dimensional path for UAV. After fully considering the terrain threat and the threat of the fire and radar appearing at the same time, their weights＇ inflection on path planning is studied. By limiting distance from the routes to the straight-line including task＇ s starting and ending points, it is not only to overcome the potential method＇ s problem of no converging to target, but also to short flight range. It studies the affection of various factors＇ different weights of penalty function on the flight routes to select the optimal weight coefficients. It shows that through the simu lation experiments, the method can successfully design safety flight path for UAV.