突发威胁下的航迹规划问题研究  

Study on Path Planning with Sudden Appearing Threats

作　　者：刘月[1] 刘文杰 刘敏 魏瑞轩[1] 张煜[1] 

机构地区：[1]空军工程大学工程学院 [2]空军装备部科订部 [3]63650部队通信总站

出　　处：《飞行力学》2009年第5期89-93,共5页Flight Dynamics

摘　　要：提出采用一种结合三角网格退化、变域动态规划以及航迹优化的方法来解决突发威胁下的航迹规划问题。针对无人飞行器航迹规划中应对突发威胁存在时间延迟过长问题,采用一种速度较快的退化网格方法,有效提高了重规划的速率。在动态规划中,采用一种有向变域动态规划方法,进一步缩短了路径生成的时间。仿真结果显示,该方法能有效减少时间延迟过长问题,并满足地形回避和威胁回避的要求。A fast path planning method by optimization of a path graph is proposed and simulated.This method combined the ameliorated grid degenerate and dynamic programming,it can solve the problem of time delay in path planning with sudden appearing threats.Triangular grid degenerate can improve the speed of path planning obviously and make sure the path is optimal;the variation field dynamic programming can improve the speed more.From the result of the simulation,this method could apply to solve the problem on path planning with sudden appearing threats.

关 键 词：网格退化 变域动态规划 突发威胁 航迹规划 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]