突发威胁下的无人机实时航迹规划  

Real Time Path Planning of UAV for Pop-Up Threat

作　　者：江泽强 朱旋 李琪[3] JIANG Ze-Qiang ZHU Xuan LI Qi(Common Platform Center of Training Department, National Defense University, Beijing 100091, China Graduate School, National Defense University, Beijing 100091, China The Unit 95894 of PLA, Beijing 102211, China)

机构地区：[1]国防大学训练部公共平台中心 [2]中国人民解放军95894部队 [3]国防大学研究生院

出　　处：《指挥与控制学报》2017年第3期240-244,共5页Journal of Command and Control

摘　　要：现代战场环境复杂多变,为了提高无人机对突发威胁的应变能力,提出一种实时的快速航迹规划方法.该方法在RRT(快速扩展随机树)算法的基础上进行了改进,并结合了无人机机载设备的探测范围,采用滚动规划策略对航迹进行在线实时规划.仿真实验结果表明,该方法规划效率较高,能够有效处理未知环境中的突发威胁,确保了航迹规划的实时性和有效性.Modern battlefield environment is complex and changeable, and in order to improve the emergency response capability of UAV to pop-up threat, a real-time fast path planning method is proposed. Based on improved RRT（Rapidly-exploring Random Tree）algorithm, combing the detection range of UAV＇s airborne equipment, the method utilizes the rolling planning strategy to conduct online real-time planning. The simulation results show that the proposed method is efficient and can effectively deal with the pop-up threats in unknown environments, and it ensures the real-time and effectiveness of path planning.

关 键 词：突发威胁 无人机 RRT 滚动规划 航迹规划 

分 类 号：V249[航空宇航科学与技术—飞行器设计] V279