穿越恶劣天气区域的无人机航迹规划

UAV Path Planning Across Weather Threat

研究无人机穿越恶劣天气区域的航迹规划问题.充分考虑无人机飞行过程中可能遭遇的恶劣天气,并建立数学模型.以人工势场法为基础引入附加控制力,航迹规划任务通过优化附加控制力实现.采用任务完成概率这一关于空间的客观物理量刻画势场,从而解除了过去建立势场的苛刻要求.仿真结果表明所提出的方法能有效完成恶劣天气条件下的无人机航迹规划任务,同时,继承了传统人工势场法的优点,改善其容易陷入局部极值、势场的建立缺乏实际意义的固有缺陷.

To solve the problem of UAV path planning across weather threat,the harsh weather zone occurring during UAV＇s trip was discussed adequately and abstracted into mathematical model.An additional control force was introduced into artificial potential field method as the optimization variable for path planning.The artificial potential fields were built up in terms of a generalized form describing spatial constraints,i.e.,the probability of accomplishment of the task,which could release the rigorous requirements on field＇s foundation.Simulation results verified that the proposed method benefits to UAV path planning across weather threat.At the same time,the proposed method inherits the advantages of traditional artificial potential field method,and improves the disadvantages that the trajectory is apt to sink into local minimum and the foundation of potential fields lacks of actual significance.