基于改进速度障碍算法的无人机反侦察路径规划研究  

Study on Path Planning of UAV Anti-reconnaissance Based on Improved Velocity Obstacle Algorithm

作　　者：冒燕 杨家鼎 徐小强[1] MAO Yan;YANG Jiading;XU Xiaoqiang(School of Automation,Wuhan University of Technology,Wuhan 430070,China)

机构地区：[1]武汉理工大学自动化学院,武汉430070

出　　处：《弹箭与制导学报》2022年第6期13-19,共7页Journal of Projectiles,Rockets,Missiles and Guidance

基　　金：装备计划科研项目(XK2019009)资助。

摘　　要：针对无人机对动态障碍物和静态障碍物的规避问题,充分考虑障碍物与无人机之间的安全边界等因素,并结合实际巡航中对雷达的反侦察场景,在二维平面使用速度障碍法并结合改进人工势场法对无人机的偏航角进行调整,解决了无人机在动态障碍物和静态障碍物的影响下边界分离和相交时的路径规划问题。以陆基雷达和机载雷达的参数设计三种动态和静态障碍物数学仿真模型,仿真结果表明,无人机可以自主选择偏航方向对障碍物进行规避,有较好的实时性和准确性。Aiming at the problem of the avoidance of UAV to dynamic obstacles and static obstacles, fully considering the factors such as the safe boundary between obstacles and UAV, and combining with the anti-reconnaissance scene of radar in actual cruise, the velocity obstacle method and the improved artificial potential field method are used in the two-dimensional plane to adjust the yaw angle of UAV, which solves the path planning problem of boundary separation and the intersection of UAV under the influence of dynamic obstacles and static obstacles. Three kinds of dynamic and static obstacle mathematical simulation models are designed based on the parameters of land-based radar and airborne radar. In the simulation results, the UAV can autonomously choose the yaw direction to avoid obstacles, which has good real-time and accuracy.

关 键 词：速度障碍 无人机 改进人工势场 路径规划 雷达 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]