基于人机合作的无人机实时航迹规划

UAV real-time path planning based on human-machine cooperation

针对复杂多变的战场环境,无人机(UAV)在执行任务遇到突发威胁时,提出了一种人机合作的实时航迹规划方法。由人决策和分析威胁信息,给出规避方向和任务紧急程度,无人机据此采用模糊推理的方法,自主解算得到引导点的位置,牵引无人机改变航向,规避突发威胁。仿真结果表明,采用人机合作的实时航迹规划可以将人的智能决策和无人机的快速计算能力有机结合起来,规划更加优化的航迹,能动态调整引导点的位置,可根据任务的紧急程度灵活选择规避路径。

A human-machine real-time path planning strategy in complex battlefield environment is pro- posed when unmanned aerial vehicle （UAV） is performing tasks and encounter unexpected threats. Human undertakes the tasks of making decision and analysing threat information, and then sends the messages of direction for evading unexpected threats and emergency degree of task to UAV. UAV independently calculates the position of guide point which attracts UAV to change course, realize the evasion of unexpected threats by adopting fuzzy logic method according to the message that human provides. Simulation result shows that hu- man-machine real-time path planning strategy combines human＇ s intelligent decision-making and UAV＇ s fast calculation ability, optimizes the path under the condition of complex threats, and dynamically adjusts the position of the guide point. Thus evasion path can be flexibly chosen on the basis of the emergency degree of task.