基于嵌入式Linux的超小型无人机航路规划  

Path - Planning Based on Embedded Linux for Super Miniature Unmanned Air Vehicle

作　　者：田志辉[1] 蒋蓁[1] 吉梅峰[1] 

机构地区：[1]上海大学机械工程与自动化学院,上海200072

出　　处：《机电一体化》2005年第2期56-59,共4页Mechatronics

基　　金：上海市科学发展基金重大专项(02DZ11019)。

摘　　要：无人机(UAV)的发展使其功能越来越自主、智能。在无人机发展的众多研究领域当中,航路规划是其中先进任务规划系统中的关键组成部分,它的可靠性对UAV系统的整体性能有着重要影响。着重介绍了基于嵌入式Linux的SUAV导航系统中的路径规划算法及其软件编程技术,同时探讨了Voronoi图的Sweep-line构造方法和求最短路径的Dijkstra算法,并通过实例验证了所用方法和所编软件的有效性和可靠性。Unmanned air vehicles of the future will be more autonomous than the remotely - piloted platforms in use today. Among the many open issues in their development, path planning is primarily important. In this paper, the path - planning for super miniature unmanned air vehicle' s navigation system based on embedded linux is introduced firstly. At the same time, the methods of computing voronoi diagram and the Dijkstra algorithm to get a shortest way are discussed. Then the result of implementation demonstrates the path - planning algorithm is effective and reliable.

关 键 词：嵌入式LINUX a算法 路径规划算法 任务规划 最短路径 航路规划 软件编程 无人机(UAV) UAV 导航系统 

分 类 号：V249.32[航空宇航科学与技术—飞行器设计]