突发威胁下的无人机航迹规划算法  

Route planning algorithm of UAV with unexpected threat

作　　者：孙健[1] 井立[1] 刘朝君[1] SUN Jian;JING Li;LIU Zhao-jun(Aircraft Flight Test Technology Institute, CFTE, Xi＇ an 710089, China)

机构地区：[1]中国飞行试验研究院飞机所,陕西西安710089

出　　处：《飞行力学》2018年第3期52-55,共4页Flight Dynamics

摘　　要：针对无人机在执行任务过程中遭遇突发威胁的实时航迹规划问题,提出了一种基于动态规划的无人机实时航迹规划算法。采用切线法将问题转化为多阶段决策问题,通过动态规划法求出了问题的最优解,并通过航迹切换策略对生成的航迹进行了平滑处理。通过MATLAB进行了仿真验证,结果表明,该方法生成的航迹平滑、可飞,实现了无人机对突发威胁的合理规避,且满足无人机的机动性能及动力学限制,可直接应用于工程实践。A real-time route planning algorithm of unmanned aerial vehicle（ UAV） based on dynamic programming was proposed in order to solve the real-time route planning problem of UAV when encountering unexpected threats in missions. The tangent method was adopted to transform the problem into a multistage decision problem. The optimal solution of the problem was obtained according to the dynamic programming method and the route was smoothed with the track-switch strategy. At last,the simulation results with MATLAB show that route planned by the algorithm is smooth and flyable. This algorithm can avoid threats reasonably,satisfy the dynamics and maneuver performance of UAV and can be applied directly in engineering practice.

关 键 词：无人机 实时航迹规划 动态规划法 

分 类 号：V279[航空宇航科学与技术—飞行器设计] TP391.9[自动化与计算机技术—计算机应用技术]