基于Open Snakes的无人机航路规划  

Unmanned Aircraft Vehicle Path Planning Based on Open Snakes

作　　者：赵永嘉[1] 戴树岭[1] 何瑾[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：《系统仿真学报》2008年第S2期374-377,共4页Journal of System Simulation

摘　　要：针对无人机在执行低空突防任务时最大生存概率以及自身飞行约束的要求,对传统Snakes方法进行改进,提出基于Open Snakes的航路规划方法。给定起点和终点的情况下,通过曲线的自主进化得到最终航路。建立由地形、敌方防空威胁组成的威胁模型,提出采用威胁的梯度场表示外力约束,作用于Open Snakes的递推过程,并提出了基于Open Snakes的航路代价模型对航路进行评估。实验表明,本算法的最小能量模型能够快速实现低航路代价的航路规划。To ensure the mission success rate for low attitude penetration,a path to meet the restriction of the unmanned aerial vehicle's(UAV) capability with high survivability must be planned.Improved from the traditional Snakes method,a novel method based on Open Snakes generating optimal UAV flight paths over hostile territory is presented.Given the starting point and end point,the final path is obtained by the evolution of the curve.A threat model including terrain and enemy aerial defense sites with known location is constructed in the form of a gradient field which acts in Open Snakes iterative process as external constraints The virtual forces in the gradient field push the path away from terrain and the given enemy air defense sites.Evaluation method of flight routes cost developed from Open Snake model is also presented.Experimental results have proved this path planning methodology of low fight cost for UAV can be implemented by our algorithm with low computational cost.

关 键 词：航路规划 航路代价 地形回避 Snakes 无人机 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计]