浅析无人机在未知环境下的航路规划  

Analysis of UAV Route Planning in Unknown Environment

作　　者：赵铭[1] 董世友[1] 

机构地区：[1]电子工程学院,合肥230037

出　　处：《电光系统》2009年第4期45-48,共4页Electronic and Electro-optical Systems

摘　　要：无人机具备在未知环境下实时航路规划的能力将成为今后无人机航路规划重要的发展方向。本文针对无人机执行任务的未知环境，给出了基于威胁目标存在概率的环境信息模型，并将环境概率模型用于航路代价函数，最后通过局部优化策略和滚动时域思想对航路进行了实时规划，将全局优化方法和局部优化方法有效地结合到航路规划中，为无人机的航路规划提供了有力支撑。Unmanned Aerial Vehicle （UAV） in unknown environments with real -time route planning capability will become trend of route planning for future UAV development. In this paper, the threat model based on the probability of target existence model of environmental information will be given for unknown UAV mission envi- ronment. Probabilistic models of environment are used to route cost function. The route will be a real - time planning by the final adoption of local optimization strategy and the rolling time -domain ideas, with the global optimization method and local optimization methods effectively to be integrated into the route planning. Route planning for UAVs will become a strong support.

关 键 词：无人机 航路规划 未知环境 局部优化 

分 类 号：O657.32[理学—分析化学]