针对突发威胁的无人机多机协同路径规划的方法  

Research on Method of Multiple UAVs Cooperative Path Planning for Pop-up Threats

作　　者：丁琳[1] 高晓光[1] 王健[1] 王娜[1] 

机构地区：[1]西北工业大学电子信息学院,陕西西安710072

出　　处：《火力与指挥控制》2005年第7期5-8,共4页Fire Control & Command Control

基　　金：国家教委博士点基金资助项目(20020699001);国家自然科学基金资助项目(90205019)

摘　　要：在无人机多机协同路径规划中,采用V orono i图方法,引入协同变量和协同函数,产生关于已知威胁的路径,使各架无人机能够同时到达目标。在此基础上,利用集合点规划状态图,针对作战过程中的突发威胁实时进行路径规划,从而得到各架飞机的几何路径。仿真结果表明集合点规划状态图的使用对于无人机多机协同路径规划中的突发威胁问题的求解是有效的。For the path planning of coordination of multiple Unmanned Aerial Vehicles （UAVs） to ensure the UAVs reach the targets at the same time,UAVs plan paths based on the locations of the known threats by using the method of Voronoi graph,here a coordination function and a coordination variable is introduced. Based on this oringnal method of path planning,the paper proposes the Rendezvous Manager Statcchart to find the real-time geonetrical path specially for the pop-up threats. Simulation results demonstrate the feasibility of the approach presented here.

关 键 词：协同 路径规划 集合点规划状态图 突发威胁 实时 

分 类 号：V279[航空宇航科学与技术—飞行器设计]