威胁联网下无人机路径在线规划  

Exploring Further UAV On-Line Path Planning in the Presence of Threat Netting

作　　者：田阔[1] 符小卫[1] 高晓光[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：《西北工业大学学报》2011年第3期367-373,共7页Journal of Northwestern Polytechnical University

基　　金：航天支撑基金(2009-HT-XGD);611航空基金资助

摘　　要：文章以火力单元为威胁建立威胁联网模型,分析了威胁联网对火力单元的雷达扫描区和杀伤区的影响,以及威胁联网对路径规划的影响;针对威胁联网下各主动威胁进行信息交流与资源共享的模式,提出了适用于威胁联网的目标指示概率,并以威胁对无人机的探测概率为基础,给出了简化的威胁联网模型。根据雷达响应时间和导弹外部飞行时间提出了威胁时间窗概念,并结合威胁联网模型改进了威胁代价目标函数。最后运用模型预测控制算法进行仿真,通过对比说明基于威胁联网模型的改进算法的有效性和合理性。Aim. The introduction of the full paper reviews a few papers in the open literature and then, in its fourth paragraph, outlines our further exploration, which is explained in sections 1 through 4. Section 1 is entitled threat netting; its core is that we treat a fire unit as threat and analyze the influence of threat netting on the radar scanning area of the fire unit and its kill area and the effects of threat netting on on-line path planning. Section 3 is entitled threat netting model; its core consists of： （1） we propose the target instruction probability suitable for threat net-ting; （2） we establish a simplified threat netting model based on UAV＇ s probability of detecting threats. Section 4 is entitled threat cost model; its core consists of： （1） we define the time needed for a radar to track UAV as the threat time window according to the radar response time and missile flyout time; （2） we use the maximum minimization concept in Ref. 8 to derive the threat cost objective function, which is given in eq. （ 11 ）. Section 5 uses the model predictive control （MPC） algorithm to simulate the effects of threat netting on the on-line path planning of UAV; the simulation results, given in Figs. 2 through 6, and their analysis show preliminarily that our on-line path planning in the presence of threat netting can help UAV dodge threats and reduce its kill probability, thus being more effective and reasonable than other methods.

关 键 词：无人机 在线路径规划 威胁联网 模型预测控制 威胁时间窗 

分 类 号：V218[航空宇航科学与技术—航空宇航推进理论与工程]