基于计算几何的无人机避障优化问题研究  

Research on UAV Obstacle Avoidance Optimization Based on Computational Geometry

作　　者：申文莹 张书畅 葛平茹 徐伟 SHEN Wenying;ZHANG Shuchang;GE Pingru;XU Wei(School of Management Engineering,Qingdao University of Technology,Qingdao,Shandong 266520,China;School of Information and Control Engineering,Qingdao University of Technology,Qingdao,Shandong 266520,China;School of Science,Qingdao University of Technology,Qingdao,Shandong 266520,China)

机构地区：[1]青岛理工大学管理工程学院,山东青岛266520 [2]青岛理工大学信息与控制工程学院,山东青岛266520 [3]青岛理工大学理学院,山东青岛266520

出　　处：《自动化应用》2024年第7期17-22,共6页Automation Application

摘　　要：为解决无人机飞行路径规划中的问题,以2023年深圳杯数学建模C赛题给出的案例,在避开障碍物的情况下,设计2架无人机的航迹方案,使得2架无人机到达目的地的路线最优。通过无人机之间的坐标关系和计算几何建模,在此基础上建立以飞行时间最短的数学规划模型,通过仿真模拟给出结果的合理性检验说明,以期为复杂的飞行问题提供最佳的航迹方案。To solve the problem of unmanned aerial vehicle(UAV)flight path planning,using the case of the 2023 Shenzhen Cup Mathematical Modeling C Competition,two UAV trajectory plans were designed while avoiding obstacles,ensuring the optimal route for the two UAVs to reach their destination.Based on the coordinate relationship and computational geometry modeling between drones,a mathematical planning model with the shortest flight time is established.The rationality of the results is verified through simulation,in order to provide the best trajectory solution for complex flight problems.

关 键 词：无人机避障 几何图形法 数学优化 最优航迹 仿真模拟实验 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]