面向地面运动目标的无人机协同航迹规划  

Cooperative trajectory planning for UAV towards moving target aground

作　　者：曾佳[1] 申功璋[1] 夏洁[1] 杨凌宇[1] 

机构地区：[1]北京航空航天大学自动化科学与电气工程学院,北京100191

出　　处：《北京航空航天大学学报》2009年第7期887-890,共4页Journal of Beijing University of Aeronautics and Astronautics

基　　金：武器装备预研基金资助项目

摘　　要：由于现有无人机协同航迹规划主要局限于固定目标,提出了一种面向地面运动目标的无人机协同航迹规划方法.给出面向地面运动目标的无人机协同航迹规划总体方案;采用按时间推进的自规划与同步规划交替进行的协同规划机制,满足协同信息交互存在时间间隔的约束;在规划中将无人机运动与地面目标运动结合并构造适合于地面运动目标的启发函数,利用启发式搜索算法快速生成航迹段;采用分布计算协同变量的方法降低了协同计算量.仿真结果表明该方法可以使无人机通过信息交互和自主分布计算快速生成面向地面运动目标的三维协同航迹,且满足规划的实时性要求.In contrast to the most existing unmanned aerial vehicle （UAV） cooperative trajectory planners that are suitable for stationary targets, a novel decentralized cooperative trajectory planning method for UAV to- wards moving target aground was proposed. The decentralized cooperative trajectory planning scheme was given and the time advancing mechanism by alternation of self-planning and synchronized-planning was adopted to match the constraints of information transfer interval. The heuristic information function suitable for moving tar- get aground was constructed to enhance the UAV trajectory feasibility. The heuristic search algorithm was used to generate the trajectory segments, which make UAV reacting to target movement aground. The decentralized computing method for cooperative variable was designed to reduce the cooperative computing. The simulation results show that the method could generate the real time three-dimensional cooperative trajectory for UAV to- wards moving target aground via information transfer and decentralized computing, which meets the real time application requirement.

关 键 词：无人机 航迹 规划 运动 目标 

分 类 号：V249[航空宇航科学与技术—飞行器设计]