三维真实地形环境下无人机救援航路规划方法  

Path planning for UAV under three-dimensional real terrain in rescue mission

作　　者：梁宵[1] 王宏伦[2] 孟光磊[1] 陈侠[1] 

机构地区：[1]沈阳航空航天大学自动化学院,沈阳110136 [2]北京航空航天大学无人驾驶飞行器设计研究所,北京100191

出　　处：《北京航空航天大学学报》2015年第7期1183-1187,共5页Journal of Beijing University of Aeronautics and Astronautics

基　　金：国家自然科学基金(61175084);沈阳飞行器控制与仿真技术重点实验室建设(F14-185-1-00)

摘　　要：利用无人机(UAV)的三维飞行能力,采用优化方法规划路径,能够使其在救援任务中比地面车辆以更短的时间到达救援区域,提高救援效率.针对真实的地理环境,根据无人机约束采用均匀化网格方法进行地形建模,之后根据地形数据的特点设计适合数学计算与求解的数据结构.最后设计了包含偏离代价、高度代价、地形跟随/回避代价、威胁代价和安全距离代价的综合性能指标函数,并采用航路点交叉和网格搜索代替航路点搜索的方法,对蚁群算法进行改进完成航路规划.仿真结果表明:本文方法能够直接处理三维地形数据,在保持地貌的前提下,完成了无人机的三维航路规划任务,得到满足无人机约束的三维最优航路,提高了航路规划方法的实用价值.Basing on the capability of three-dimensional flight and planning of optimal path, unmanned aerial vehicles （UAVs） can reach the disaster areas within shorter time than ground vehicles, which will improve the efficiency of rescue. Firstly, according to the real geographical environment, terrain is modeled by a mesh uniform method based on UAV constraints. Secondly, a data structure which is suitable for calculation is designed based on the characteristics of terrain data. Finally, the integrative performance function includes the deviation cost, height cost, terrain following/avoidance cost, threat cost and security distance cost. Both methods of waypoints cross and grid search instead of waypoints are engaged in the improved ant colony algo- rithm to make three-dimensional UAV path planning. The simulation results show that the method can deal with three-dimensional terrain data directly. While maintaining the topography of the premise, it can find the three-dimensional optimal path of UAV and improve the practical value of path planning technology.

关 键 词：无人机(UAV)救援 三维航路规划 蚁群算法 数字地图 真实地形 

分 类 号：V249.1[航空宇航科学与技术—飞行器设计]