基于扰动流体动态系统的无人机三维航路规划:方法与应用

UAV Three-Dimensional Path Planning Based on Interfered Fluid Dynamical System: Methodology and Application

本文阐述了基于扰动流体动态系统的复杂地形条件下无人机三维航路规划方法。扰动流体动态系统源于流水避石航路规划方法,但其流体物理学性质被相对简化,因此能够采用解析法进行研究。利用该方法,可以得到光滑、可飞性高的航路,实现无人机在复杂地形条件下的避障飞行。首先介绍了扰动流体动态系统的基本原理,然后针对经典扰动流体动态系统面临的几个关键性问题,例如局部极小、参数优化、航路可飞性等,分析并列举了相应的改进与解决方案。除三维避障航路规划以外,该方法还广泛应用于目标跟踪、能量最优飞行、区域搜索、电力巡线等特定无人机任务中,体现出较高的应用价值。

This paper introduces the UAV 3 D path planning method based on Interfered Fluid Dynamical System(IFDS) in the complex terrain. IFDS derives from the theory of fluid avoiding obstacles. However,the physical property of fluids is simplified. Therefore,the analytical method can be used in IFDS. Using IFDS,the flight path with high smoothness and feasibility can be obtained and UAV can realize the obstacle avoidance flight in complex terrain. First,the fundamental of IFDS is introduced. Then,aiming at some key problems that IFDS faces,such as the local minimum,parameter optimization and flight path feasibility,this paper analyzes and introduces the related improvements and solutions. Besides the 3 D obstacle avoidance path planning,IFDS has been widely applied in some specific UAV missions,such as target tracking,energyoptimal flight region search and power lines inspection,which reflects a high application value.