突防飞行与多区域搜索一体化侦察航迹规划  

Integrated reconnaissance path planning of penetration flight and multi area search

作　　者：闫川 甄子洋[1] 张继豪 李苏宁 梁永勋 YAN Chuan;ZHEN Ziyang;ZHANG Jihao;LI Suning;LIANG Yongxun(College of Automation Engineering,NUAA,Nanjing 211106,China;AVIC Aviation Simulation System Co.,Ltd.,Shanghai 200241,China)

机构地区：[1]南京航空航天大学自动化学院,江苏南京211106 [2]中航航空模拟系统有限公司,上海200241

出　　处：《飞行力学》2023年第1期20-26,46,共8页Flight Dynamics

基　　金：中央高校基本科研业务费专项资金(NZ2019008);航空科学基金资助(2018511001);南京航空航天大学前瞻布局科研专项基金资助(1003-ILA22064)。

摘　　要：针对战场环境下无人机的侦察路径规划问题,首先设计突防飞行与多目标区域搜索的一体化侦察航迹规划策略。然后针对侦察任务中的突防问题,在传统快速扩展随机树(RRT)的改进算法基础上,提出一种基于改进RRT*的无人机突防航迹规划方法,通过设计目标偏置算法解决了传统RRT算法采样点随机性大、收敛速度慢等问题。针对侦察任务中的目标搜索问题,使用改进的旋转卡壳路径规划器(RCPP)进行覆盖式航迹规划,提高了搜索覆盖率。最终通过对比仿真试验,验证了所提出算法的优越性,以及算法应用于战场侦察任务的有效性。Focusing on the reconnaissance path planning of UAV in the battlefield environment, firstly, the integrated reconnaissance path planning strategy of penetration flight and multiple target area search is designed. Then, aiming at the penetration problem in the reconnaissance mission, based on the improved algorithm of traditional rapidly-exploring random tree(RRT), a UAV penetration path planning method based on the improved RRT is proposed. By designing a target offset algorithm, the problems of large randomness of sampling points and slow convergence speed of the traditional RRT algorithm are solved. Aiming at the problem of target search in reconnaissance mission, an improved rotating calipers path planner(RCPP) is used for the complete coverage path planning to improve the search coverage. Finally, through comparative simulation experiments, the superiority of the proposed path planning algorithm and the effectiveness of the algorithm applied to battlefield reconnaissance tasks are verified.

关 键 词：航迹规划 快速扩展随机树 目标偏置 全覆盖路径规划 区域搜索 

分 类 号：V279[航空宇航科学与技术—飞行器设计]