无人机航路规划的研究  

Study on Path Planning for Unmanned Aircraft Vehicle

作　　者：董世友[1] 龙国庆[1] 祝小平[2] 

机构地区：[1]中国人民解放军电子工程学院324教研室,安徽合肥230037 [2]西北工业大学无人机所

出　　处：《飞行力学》2004年第3期21-24,共4页Flight Dynamics

摘　　要：无人机的航路规划要求满足威胁回避和可飞性。采用分层的思想,基于Voronoi图产生初始航路,利用三次样条插值法平滑航路点产生无人机可飞航路,同时利用飞行过程中的信息来更新航路进行重规划。仿真结果表明了算法的有效性。Unmanned aircraft vehicle should have the capability that generates threat avoiding and feasible flying path. In this course the key idea is decomposition strategy, a preliminary path is generated from a Voronoi diagram based on threat locations; cubic spline is used to connect these waypoints and refine the path into a flyable path. This approach also allows pop-up threat that occurs along the path to be handled efficiently. Simulation results show the approach availably.

关 键 词：VORONOI图 三次样条插值 航路规划 无人机 

分 类 号：V279[航空宇航科学与技术—飞行器设计]