基于启发式预测窗口的UAV实时航迹规划方法

Real-time method of UAV path planning based on heuristic predictive window

考虑移动目标及移动威胁,根据机载传感器实时获得的目标及威胁信息,提出一种基于启发式预测窗口的无人机实时航迹规划方法。根据敌我态势估算预测窗口,并结合卡尔曼滤波预测目标及威胁的状态,构建基于矢量夹角原理的目标函数,评估威胁及航程代价并满足无人机的机动约束。该方法通过最速下降法在线优化得到一系列的无人机航向角,完成航迹规划。仿真结果表明该方法可以有效追击移动目标,并规避移动威胁,实现无人机实时航迹规划。

In view of moving target and moving threat,in accordance to the real-time information of target and threat acquired by airborne detector,a real-time method of unmanned aerial vehicle （UAV）path planning based on heuristic predictive window is proposed.Estimating predictive window based on friend or enemy situa-tion,the state of target and threat can be predicted by Kalman filtering.Objective function is established by using vector angle principle,which can evaluate threats and voyage costs and satisfy the UAV maneuvering con-straints.By negative gradient descent online optimization,a series of UAV heading angle can be gotten,and the path planning is accomplished.The simulation results show that the method can pursuit moving target and avoid moving threat efficiently,which can realize real-time path planning for UAV.