突发威胁下的无人机动态航迹规划研究  

Research on Dynamic Track Planning of UAVs Under Sudden Threat

作　　者：陈侠 赵妙琰 CHEN Xia;ZHAO Miao-yan(School of Automation,Shenyang Aerospace University,Shenyang 110136,China)

机构地区：[1]沈阳航空航天大学自动化学院,沈阳110136

出　　处：《火力与指挥控制》2020年第7期43-50,55,共9页Fire Control & Command Control

基　　金：国家自然科学基金资助项目(61074159)。

摘　　要：针对突发威胁下无人机动态航迹规划的问题,提出了一种避开突发威胁的动态规划算法。利用A*算法生成全局最优航迹并进行平滑处理。当遇到突发威胁时,利用三次样条的二阶连续性及边界条件进行局部航迹规划,能够生成一簇候选路径,根据候选路径中心线与突发威胁中心线之间的夹角对候选路径簇进行旋转调整,使其路径簇完全包围突发威胁且具有对称性。最后综合考虑安全性、平滑性和连贯性的3种代价函数,建立总代价函数,选择出最佳的规避威胁航迹。实验结果表明,该算法能够在众多候选路径中选择出一条完全避开障碍安全平滑的较优航迹,且耗时短,实时性较强。Aiming at the problem of UAV dynamic path planning under sudden threat,a dynamic programming algorithm to avoid sudden threat is proposed.First,the global optimal track is generated and smoothed using the A*algorithm.Secondly,when encountering a sudden threat,using the second-order continuity of the cubic spline and the boundary conditions for local track planning,a cluster of candidate paths can be generated.In order for the path cluster to completely surround the sudden threat and have symmetry,the candidate path cluster is rotated and adjusted according to the angle between the candidate path center line and the burst threat center line.Finally,considering the three cost functions of security,smoothness and coherence,the total cost function is established to select the best evasive threat track.The experimental results show that the proposed algorithm can select a safe and smooth better track that avoids obstacles in many candidate paths,and the overall time is short and the real-time performance is strong.

关 键 词：全局航迹 局部航迹 三次样条 代价函数 动态航迹规划 

分 类 号：TJ86[兵器科学与技术—武器系统与运用工程] TP391.9[自动化与计算机技术—计算机应用技术]