基于成像传感器特性的侦察无人机航迹规划研究

Study of Route Planning of Reconnaissance Unmanned Aerial Vehicle Based on Imaging Sensor Characteristics

针对携带成像传感器的侦察无人机的航迹规划问题,提出整体与局部航迹规划结合的方法;将侦察无人机航迹规划问题分解为两步:第一步,利用遗传算法全局搜索的优势对蚁群算法初始信息素过低进行改进,对无人机进行整体航迹规划;第二步,利用几何限制原则结合侦察无人机携带的成像传感器的特点进行局部航迹再规划;通过按照该方法规划出侦察无人机的航迹并取得较好效果的一个实例证明,该方法计算简化、贴合实际、针对性强,可为实际战场侦察无人机航迹规划提供了参考。

In allusion to the problem of the route planning from Reconnaissance Unmanned Aerial Vehicle（ Reconnaissance UVA） based on imaging sensor characteristics,this paper proposes a method of combining the overall and local route planning. The route planning of Reconnaissance UVA solution will be decomposed into two steps： firstly,it uses the advantage of global search from genetic algorithm to improve ant colony algorithm whose initial pheromone is excessive low,and the overall route of UVA can be planed by this algorithm; Secondly,due to the characteristics of the sensor,the local route needs to be re-planed based on the geometric constraint principle. According to the above rules with a simple case,we can plan the route of Reconnaissance UVA and achieve good results.