载荷性能约束下的无人机区域探测航路规划算法研究  

Research on Route Planning Algorithm for Area Detection of UAVs with Load Performance Constraint

作　　者：李屹东 吴晨阳 于竞婷 王鹏 LI Yidong;WU Chenyang;YU Jingting;WANG Peng(AVIC(Chengdu)UAS Co.,Ltd.,Chengdu 611730,China;Xi'an INNNO Aeronautics Technologies Co.,Ltd.,Xi'an 710075,China)

机构地区：[1]中航(成都)无人机系统股份有限公司,成都611730 [2]西安因诺航空科技有限公司,西安710075

出　　处：《计算机测量与控制》2025年第2期168-174,共7页Computer Measurement &Control

摘　　要：无人机区域探测航路规划算法可广泛应用在搜索救援,监测勘察和环境监测等领域;为了解决无人机在载荷性能约束下的航路规划问题,以光电传感器(EO)为主载荷,结合无人机飞行特性,给出了一种基于无人机载荷约束下的区域探测航路规划算法;主要包括区域最小跨度的确定、块区分割线的生成、块区进出点分配和过渡圆弧轨迹生成等内容,利用这些步骤可快速完成对整个区域的全覆盖探测;通过对特定区域的探测航路规划仿真实验,验证了该算法在满足载荷约束、飞控性能约束以及任务区域限制的情况下实现了区域全覆盖探测,且航路最短的目的,并在对比仿真实验中验证了所提出的算法的优势;该算法的可迁移性较好,对于二维和三维区域探测都具有重要参考价值。Route planning algorithms for the area detection of unmanned aerial vehicles(UAVs)can be widely used in search and rescue,investigation,environmental monitoring and other fields.In order to solve route planning problem of UAVs with the constraint of load performance,considering electro-optical(EO)sensors as main load,and combining the flight characteristics of UAVs,a route planning algorithm for area detection based on the load constraint conditions of UAVs is proposed.The algorithm includes the determination of the minimum span of target area,generation of block area,allocation of entry and exit points for block area,and generation of transitional arc trajectory,and uses these methods to quickly achieve full coverage detection of whole area.Through several area detection route planning experiments for a specific area,it is verified that the proposed algorithm achieves full coverage of area and the shortest route with the constraints of load performance,flight controller performance,and limited task area.Moreover,the advantages of the proposed method are verified in the comparison experiment.The algorithm has high transferability,which is of great significance for detecting two-dimensional and three-dimensional areas.

关 键 词：无人机 载荷 区域覆盖 区域探测 航路规划 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]