基于K路径算法的多无人机协同航迹规划  

Study on coordinate path planning Based on K-shortest path algorithm

作　　者：刘宇坤[1] 谢军[1] 

机构地区：[1]西安空军工程大学工程学院研究生12队,西安710038

出　　处：《微计算机信息》2008年第24期208-209,108,共3页Control & Automation

摘　　要：对于满足无人机团队中各机同时到达目标这样一个特定的协同要求,首先采用K路径算法实现了无人机的多航迹规划,然后采用速度控制和K路径算法相结合的办法实现了各无人机之间的时间协同。对整个协同航迹规划问题,采用一种分散式求解方法,把高维优化问题分解成低维、计算量小、通讯数据少的问题。To fulfill the specific requirement of cooperating multi UCAVs that reach their objects simultaneously, the K-shortest path algorithm is used in multi path generation, and speed restriction is integrated into K-shortest path algorithm to cooperate the UCAVs. A decentralized approach is used in solving the whole cooperative programming problem： divide the multidimensional problems into low-dimensional problems that cost less computation and communication time.

关 键 词：无人机 K路径算法 VORONOI图 协同航迹规划 

分 类 号：V448.253[航空宇航科学与技术—飞行器设计]