小型无人机快速三维航迹规划方法  

Fast 3Droute planning method for small UAV

作　　者：刘莉[1] 于成龙[1] 王祝[1] 齐竹昌[1] 龙腾[1] 

机构地区：[1]北京理工大学宇航学院,北京100081

出　　处：《系统工程与电子技术》2013年第12期2521-2526,共6页Systems Engineering and Electronics

基　　金：国家自然科学基金(51105040;11372036);航空科学基金(2011ZA72003)资助课题

摘　　要：针对小型无人机航迹规划中难以满足自身性能约束和实时性要求的问题,将飞行环境中的威胁分为可穿越威胁和不可穿越威胁;基于序列规划思想,采用粒子群优化算法规划基准航迹,采用改进的稀疏A*算法进行在线航迹规划。为提高在线航迹规划效率,将三维航迹规划转化为二维水平面规划和高度规划,仿真实验验证了该算法能够生成三维可行航迹,且规划时间显著减少。In order to solve the problem that the route planning of the small unmanned aerial vehicle （UAV） can hardly satisfy the constraint of itself and the requirements of the real-time planning, the threats in the environment are separated into passable threats and impassable threats. Based on the sequential program- ming, a reference route is planned using particle swarm optimization and a real-time route is planned using the modified sparse A^＊ algorithm. To improve the efficiency of the route planning, 313 route planning is trans- formed into 2D horizontal route planning and height planning. Simulation results demonstrate that the proposed method could obtain a feasible 3D route, and the planning time is highly reduced.

关 键 词：航迹规划 小型无人机 稀疏A^＊算法 局部规划 威胁建模 

分 类 号：V249[航空宇航科学与技术—飞行器设计]