无人机跟踪运动目标航迹规划算法

Route planning algorithm for tracking moving target with UAV

对无人机跟踪运动目标的原理进行了分析,设计了跟踪系统的动力学模型,提出了一种基于切线法的航迹规划算法。在动力学约束条件下实现了对无人机的航迹、速度、加速度等的最优控制,从而解决了无人机跟踪运动目标问题,并给出了算法的具体设计步骤。仿真结果表明,该算法能够快速、有效地为无人机规划出跟踪运动目标的最优航迹。

Principle of tracking moving target with unmanned aerial vehicle（ UAV） was analyzed. The dynamics model of tracking system was designed. A UAV route planning algorithm based on tangent method was presented to solve the problem of tracking moving target with UAV,which achieved the optimal control of the route,velocity and acceleration under the dynamic constraints. And the concrete design steps of this algorithm were given. At last,the simulation results show that this algorithm could plan the optimal route for UAV to track moving target quickly and efficiently.