基于维特比算法的无人机航路规划  

The Route Planning Based on Viterbi Algorithm for UAV

作　　者：茹伟[1] 高晓光[1] 张博[1] 

机构地区：[1]西北工业大学电子信息学院

出　　处：《火力与指挥控制》2011年第6期42-45,共4页Fire Control & Command Control

基　　金：国家自然科学基金(60774064);航天支撑基金资助项目(2009-HT-XGD)

摘　　要：提出采用隐马可夫模型(HMM)建立无人机飞行中威胁评估模型,利用HMM中维特比(V iterb i)算法实现了对威胁评估,确定无人机飞行中的航路;提出采用快速排序算法改进V iterb i算法的效率;采用三次样条插值修正航路点附近过大尖角。仿真表明:具有自主学习的V iterb i算法可以有效地完成无人机航路规划,改进算法可以更有效地提高计算速度,修正航路满足无人机转弯半径无人机约束。Using Hidden Markov Model to establish the model of threat assessment in UAV flighting is developed, using Viterbi algorithm in HMM to fulfill assessment of the treat and determine the UAV flight routes ;using quick sort algorithm to improve the efficiency of Viterbi algorithm ; using cubic spline interpolation to amend large cusp near navigation point. The simulation results demonstrate that the autonomic learning Viterbi algorithm can effectively complete the UAV route planning, improved algorithm can more effectively improve the computing speed, revised route can meet the constrain of UAV turning radius.

关 键 词：HMM VITERBI算法 无人机 航路规划 三次样条插值 

分 类 号：V324.2[航空宇航科学与技术—人机与环境工程]