面向任务的无人机照相侦察航迹规划算法

Mission-oriented UAV camera reconnaissance path planning algorithm

针对当前无人机照相侦察获取的影像数据很难满足后端情报处理要求的问题,提出了一种面向任务的无人机照相侦察航迹规划算法。首先基于情报处理的航迹预规划,结合无人机情报处理和航迹规划的耦合关系来完成航迹参数的解算。然后提出η形转弯策略,在最小转弯半径约束下,以最小路径代价完成相邻航带间的转弯航迹规划。最后确定侦察区域内的照相序列,来实现区域全覆盖侦察。实验结果表明,较常规U形转弯策略而言,算法路径代价降低了15%左右。

Since it is difficult to meet the requirements of backend intelligence processing for the image data acquired by current UAV camera reconnaissance, a mission-oriented UAV camera reconnaissance path planning algorithm is proposed. Firstly, based on the pre-planning of the path for information processing, and combined with the coupling relationship between the UAV intelligence processing and the path planning, the path parameters are solved. Then, the turning strategy η is proposed to complete the turning track planning between adjacent voyages with the minimum path cost under the constraint of the minimum turning radius. Finally, the photographic sequence in the reconnaissance area is determined to achieve full-coverage reconnaissance. Experimental results show that the algorithm path cost is reduced by about 15% compared with that of the conventional U-turn strategy.