时间和角度约束下的双圆弧路径规划

Bi-arc path planning with time and angle constraints

为满足无人飞行器(unmanned aerial vehicle,UAV)打击目标的时间、角度约束,提出了基于双圆弧轨迹的路径规划方法。对UAV初始、末端速度方向情况进行了分类,分别推导了对应的双圆弧参数解析形式及其单调性。同时,根据双圆弧参数解析式,得到生成路径的唯一自由度,减少了路径规划参数输入。分析了双圆弧路径长度与路径参数之间的关系,设计了多UAV协同攻击路径规划方案。数值仿真结果证明了双圆弧路径规划的有效性和实用性。

To satisfy the time and angle constraints of the unmanned aerial vehicle(UAV)in hitting target,a path planning method based on bi-arc trajectory is proposed.The initial and terminal velocity directions of UAV are classified,the corresponding analytical forms of bi-arc parameters and their monotonicity are derived respectively.Meanwhile,according to the analytic formula of bi-arc parameters,the unique degree of freedom for generating path is obtained,which reduces the input of path planning parameters.Then,the relationship between the length of bi-arc path and path parameters is analyzed,and a path planning scheme for multi-UAV cooperative attack is designed.The numerical simulation results demonstrate the effectiveness and practicability of the bi-arc path planning.