基于Voronoi图的无人机航路改进规划  

Unmanned Aerial Vehicle Route Improvement Planning Based on Voronoi Diagram

作　　者：史红玉 刘淑芬[2] SHI Hongyu;LIU Shufen(College of Computer Science and Technology,Henan Polytechnic University,Jiaozuo 454150,Henan Province,China;College of Computer Science and Technology,Jilin University,Changchun 130012,China)

机构地区：[1]河南理工大学计算机科学与技术学院,河南焦作454150 [2]吉林大学计算机科学与技术学院,长春130012

出　　处：《吉林大学学报（理学版）》2018年第4期945-952,共8页Journal of Jilin University:Science Edition

基　　金：国家自然科学基金(批准号:61472160);国家科技支撑计划项目(批准号:2014BAH29F03)

摘　　要：针对传统B样条插值法在无人机航线优化路径中的不足,基于Voronoi图提出一种新的快速优化航路算法.首先根据最短路径算法在Voronoi图中生成初始路径,然后在路程时长和权重大小最优的情形下,采用该优化算法对路径中构成不可飞夹角的各节点进行更新和替换,生成一条最优路径.该算法解决了因初始路径不合理导致无人机不可飞的情形,同时保证了航路中威胁代价和燃油代价的最优.实验结果表明,该算法满足航路规划的有效性和合理性.Aiming at the deficiency of traditional B spline interpolation method in unmanned aerial vehicle route optimization path,we proposed a new fast route optimization algorithm based on the Voronoi diagram.Firstly,the initial path was generated in the Voronoi diagram according to the shortest path algorithm,and then the optimization algorithm was used to update and replace each node that made up the nonflying angle in the path to generate an optimal path.The algorithm solved the problem that the unmanned aerial vehicle could not fly because of the unreasonable initial path,and ensured the optimal cost of the threat and fuel cost in the flight path.The experimental results show that the algorithm satisfies the validity and rationality of route planning.

关 键 词：无人机 VORONOI图 航路规划 路径算法 

分 类 号：TP39[自动化与计算机技术—计算机应用技术]