基于加权Voronoi图的无人飞行器航迹规划

UAV path planning based on weighted-Voronoi diagram

为解决无人飞行器的航迹规划问题,提出一种基于加权Voronoi图的航迹规划方法。该方法首先对规划空间内的雷达侦察区和山峰等威胁区域进行预处理,提出将不规则的威胁区域拟合成由相交圆包围的区域,有效地解决了传统方法在拟合不规则区域时造成的威胁区域扩大问题;建立了基于警戒半径的航迹代价模型,使得规划出的航迹更安全;采用了加权Voronoi图法对规划空间进行航迹规划;初步实现了飞行器航迹的可视分析。仿真结果表明,相比传统Voronoi图法,所述方法能够计算出一条相对更安全且长度较短的航迹,可视分析手段的加入,为指挥员实现对航迹的分析与决策提供交互手段。

To solve the problem of path planning for unmanned aerial vehicle, a method which based on the weighted-voronoi diagram is presented. The method firstly pre-processes radar reconnaissance areas and mountains, through fitting irregular threatened-area into regions surrounded by intersecting circles, the threatened-area expansion problem caused by traditional method is solved effectively. A mathematical model of path cost is established, and it was used in path planning. The weighted-voronoi diagram was applied to path planning. Visualization analysis of the path is preliminary implemented. The experimental results show that the path which calculated through the method proposed in this paper, is safer and shor- ter than traditional voronoi diagram method. The use of visualization analysis provides interaction means for commanders to analyze the path.