B样条理论在无人机航迹平滑中的应用

Application of B-spline theory to UAV flight track smoothing

航迹规划是指根据飞行要求,设计出一条从起点到终点的最优航迹,航迹平滑是航迹规划的最后阶段,好的平滑效果可以保证所规划的航迹具有实际可飞性,因此,对航迹平滑算法的研究对整个无人机的航迹规划都具有很大的意义。文章针对无人机航迹规划问题所需满足的约束条件,建立相应的机动性能模型和威胁约束模型,平滑阶段主要包括雷达、导弹、高炮等威胁模型。首先将规划空间栅格化,其次通过标准蚁群算法获得无人机的初始航迹,状态转移策略仅根据信息素及启发因子按照蚁群算法概率公式进行选择,最后根据航迹平滑中参数分布不均匀的特点,选择非均匀三次B样条处理初始航迹。整个算法在Matlab平台上仿真实现,经过计算仿真,实验证明非均匀三次B样条曲线呈现出较好的平滑效果。

TrajectorY planning refers to designing an optimal trajectory from the starting point to the end point according to the flight requirements. The smooth trajectory is the final stage of trajectory planning. A good smoothing effect can ensure that the planned trajectory has an actual flyable. Therefore, the research on the track smoothing algorithm is of great significance to the trajectory planning of the entire UAV. In order to meet the constraints of UAV flight path planning, this paper establishes corresponding maneuver performance models and threat constraint models. The smoothing phase mainly includes threat models such as radar, missiles and anti- aircraft guns. Firstly, the planning space is rasterized. Secondly, the initial trajectory of UAV is obtained by standard ant colony algorithm. The state transition strategy is only selected according to the probability formula of ant colony algorithm based on pheromone and heuristic. Finally, Uneven text features, choose non-uniform cubic B-spline processing initial track. The whole algorithm is simulated on the Matlab platform. After calculation and simulation, the experiment proves that the non-uniform cubic B-spline curve shows a good smoothing effect.