摘要
小型折翼变体无人飞行器(Mini-Folding Wing Morphing Unmanned Aerial Vehicles,M-FMUAV)通常要在有限的巡飞航程中对指定目标区进行全面探测,为了有效地完成侦查任务,需要使规划的路径最短。规划的整条路径一般可分为直线段和转弯段,在直线段进行位置和偏差角控制,转弯段采用转弯控制,平滑路径使路径满足飞行性能。利用智能优化算法解决巡飞区最短路径问题,并从运算速度、收敛速度和路径最优率等方面对几种智能优化算法进行了比较,为折翼变体无人飞行器的推广应用提供了参考依据。
Minitype Folding Wing Morphing UAV（ M-FMUAV） usually implements a comprehensive detection in limited loitering flight route. In order to complete effectively reconnaissance tasks,it is necessary to enable the shortest path planning. The planned path can be divided into straight segment and the turn segment. The position and deviation control can be used in straight segment and the turn control can be used in turn segment. The smoothing path is implemented to meet the flight performance. This paper uses the intelligent optimization algorithm to solve the problem of shortest path in loitering flight area and compares several algorithms from the aspects of calculation speed,convergence rate and optimal path rate,which provides the reference for the popularization and application of M-FMUAV.
出处
《无线电工程》
2015年第3期67-71,80,共6页
Radio Engineering
基金
博士后科学基金面上资助项目(2013M532149)
关键词
折翼变体
巡飞区
最短路径
优化算法
folding wing morphing
loitering area
shortest path
optimization algorithm
