面向机场飞行区异物探测的无人机巡检路径规划研究

Research on UAV Patrol Path Planning for Foreign Object Detection in Airport Flight Area

为了解决无人机巡检路径的问题,在二维平面内对目标区域进行处理,先将机场目标区域栅格化,并将可巡检区域和障碍物用0-1矩阵表示,然后考虑跑道和滑行道的地理位置将目标区域分块。最后用遗传算法和“Z”型扫描方法规划出无人机水平巡航轨迹,并通过简化无人机转弯运动模型,估算出无人机巡检目标区域的时间。仿真结果表明,采用“Z”型扫描的方法进行无人机航迹规划,无人机能够在更短的时间内完成对目标区域的巡检。

In order to solve the problem of the UAV inspection path,the target area is processed in a two-dimensional plane and the airport target area is rasterized.The free area and obstacles are represented by a 0-1 matrix,and then the target area is di⁃vided into blocks considering the geographic location of the runway and the taxiway.The genetic algorithm and the"Z"scanning method are used to plan the horizontal cruising trajectory of the UAV,and the time of the UAV patrol target area is estimated by sim⁃plifying the UAV turning motion model.The simulation results show that the"Z"type scanning method can be used to plan the path of the UAV,the UAV can inspect the complete target area in a shorter time.