不同威胁情况下无人机实时航路规划算法研究

Research on Real-time Path Planning Algorithm of UAV under Different Threats

针对无人机实时航路规划问题,分析安全影响威胁,建立了改进的威胁概率模型。在安全回避突发威胁的前提上,增加考虑了偏离预定航路飞行代价影响;以飞行总航程最短为目标建立了新的飞行模型。针对当前飞行航段出现单个突发威胁和多个处于不同排列情况的突发威胁(组)情况,给出了相应的最优航路分析;并设计了基于最短路思想的启发式算法。对三种场景进行算例仿真。仿真结果表明,模型和算法具有有效性和可行性,可以实时分析突发威胁,并规划出相对安全经济的实时航路。

For the problem of real-time route planning of UAV,threats affecting security are analyzed.An improved threat probability model is established.Based on safely avoiding unexpected threat,the impact on flight price of deviating from reservation route is considered,so that a new model of flight aiming at shortest total distance is established.In view of single emergent threat and multiple emergent threats in different arrangement forms in the current flight segment,the corresponding optimal route analysis is proposed respectively.Heuristic algorithm based on the short circuit is designed to simulate the examples on three scenarios.Simulation results show that the model and algorithm has validity and feasibility and can have a real-time analysis of emergent threats and plan a real-time relatively safe and economic route.