基于随机实验的固定翼无人机区域覆盖环路规划方法  

Area coverage loop planning method for fixed-wing UAV based on random experiments

作　　者：陈逍 吴宇[1] 梁天骄 CHEN Xiao;WU Yu;LIANG Tianjiao(College of Aerospace Engineering,Chongqing University,Chongqing 400044,China;Key Laboratory of Aviation Science and Technology for Fighter Integrated Simulation,Chengdu 610091,China)

机构地区：[1]重庆大学航空航天学院,重庆400044 [2]歼击机综合仿真航空科技重点实验室,四川成都610091

出　　处：《飞行力学》2025年第1期26-33,41,共9页Flight Dynamics

基　　金：国家自然科学基金资助(52102453)。

摘　　要：针对固定翼无人机在山地地形区域的侦察航路规划问题,设计了一种综合考虑覆盖率和航路长度的最优环形航路规划方法。首先,根据任务目标及场景、无人机的约束限制,对规划空间进行方格化处理,建立无人机飞行以及视野范围模型,并考虑了地形遮挡对视野的影响。然后,针对所建立模型的特点设计环路规划算法。在生成初始环路时,随机选取路标点添加到环路中,并基于简单往复式的扫描方法确定无人机经过各路标点的先后顺序,利用带约束的A^(∗)算法将相邻路标点进行连接。最后,基于模拟退火思想,对环路上的路标点进行随机增减,以满足覆盖率要求并缩短环路长度。仿真结果表明,所提出的环形航路规划方法能够生成满足固定翼无人机机动飞行与覆盖率要求的环路。To address the challenge of the fixed-wing UAVs’route planning for reconnaissance in mountainous terrains,a method of planning optimal circular route has been designed comprehensive-ly considering both coverage and route length.Firstly,the planning space is discretized base on the constraints of mission objectives,environment and UAV capabilities.A UAV flight and visual range model is built up with the impact of terrain masking on field of view taken into account.Then,based on the characteristics of the established model,a loop planning algorithm is formulated.To generate the initial loop,landmarks are randomly selected and added to the loop,the order according to which the UAV passes over each landmark is determined by using a simple reciprocating scanning method,and adjacent landmarks are connected by employing a constrained A^(∗)algorithm.Finally,the waypoints on the loop is randomly increased or decreased base on the simulated annealing idea so as to meet coverage requirements and shorten the loop length.The simulation results show that the circular route planning method proposed can generate loops satisfying the requirements of fixed-wing UAVs maneuvering and coverage.

关 键 词：固定翼无人机 覆盖率 带约束A∗算法 模拟退火 环路规划 

分 类 号：V279[航空宇航科学与技术—飞行器设计]