多源性能约束的无人机可靠动态航路规划算法

Unmanned aerial vehicles reliable dynamic trajectory planning algorithm based on multi-source of performances constraints

为提高无人机动态航路规划的安全性,提出一种基于机载导航系统实际导航性能和无人机机动性能的多源性能约束的改进A^(*)航路规划算法。分析了无人机航路规划系统架构及约束条件,构建了融合无人机最大允许转弯角、导航系统位置不确定度和最短路径的加权启发函数,实现无人机动态航路规划的多约束适应性,最后进行了仿真分析验证。仿真结果表明:在相同的运行环境下,基于性能约束的改进A^(*)算法所规划航路的安全裕度比传统A^(*)算法提高1.8倍,角度变化百分比降低为传统算法的42.4%,航路规划用时缩短28%,所规划航路的安全裕度和无人机机动性能符合度都得到有效改善。

To improve the safety of dynamic trajectory planning for unmanned aerial vehicles(UAVs),an improved A^(*)trajectory planning algorithm based on the actual navigation performance of the airborne navigation systems and the maneuverability of the UAV is proposed.The architecture and constraints of the UAV trajectory planning system are analyzed.The weighted heuristic function integrating the maximum allowable turning angle of the UAV,the position uncertainty of the navigation system and the shortest path is constructed to realize the adaptive planning of the UAV dynamic trajectory with multiple constraints.Finally,the simulation analysis and verification are carried out.The simulation results show that,under the same operating environment,the safety margin of the trajectory planned by the improved A^(*)algorithm based on performance constraints is 1.8 times higher than that of the traditional A^(*)algorithm,angle change is reduced to 42.4%of the traditional algorithm,and the trajectory planning time is shortened by 28%.The safety margin of the planned trajectory and the compliance of UAV maneuverability are effectively improved.