融合地形信息的无人机三维航迹规划方法研究  

Research on 3D UAV Trajectory Planning Method by Integrating Terrain Information

作　　者：张显才 何磊[1] 陈海[1] 侯金鑫 ZHANG Xiancai;HE Lei;CHEN Hai;HOU Jinxin(Computational Aerodynamics Institute of China Aerodynamics Research and Development Center,Mianyang 621000,China)

机构地区：[1]中国空气动力研究与发展中心计算空气动力研究所,绵阳621000

出　　处：《无人系统技术》2025年第2期100-107,共8页Unmanned Systems Technology

摘　　要：无人机航迹规划是在环境空间中寻求一条从起点飞行到终点过程中安全且最优的航线。针对无人机在复杂地形环境中执行任务的三维航迹规划问题,开展了融合地形信息的无人机三维航迹规划方法研究。首先,使用无人机执行任务区域的数字高程模型数据来描述地形信息,并考虑异常天气威胁要素搭建三维航迹规划环境;然后,通过球形节点扩展策略优化A*算法节点扩展策略,降低算法搜索复杂度,并采用融合地形信息的通视分析来优化碰撞检测,以确保无人机安全飞行;最后,引入航迹平滑方法对规划航迹进行处理,得到满足无人机飞行性能约束的可飞行航迹。仿真结果表明:改进方法的计算效率相较于原始A*算法提高了51%,且规划出的航迹能有效规避复杂地形及异常天气威胁,使无人机安全到达终点,验证了所提方法的有效性。The objective of unmanned aerial vehicle(UAV)trajectory planning is to identify a safe and optimal route in the environmental space during the flight from the initial to the final point.Aiming at the problem of 3D trajectory planning for UAV performing tasks in complex terrain environments,a research on the 3D UAV trajectory planning method by integrating terrain information is carried out.Initially,the DEM data of the UAV mission area is employed to characterize the terrain information,and the 3D trajectory planning environment is constructed by considering abnormal weather threat element.Subsequently,the A*algorithm node expansion strategy is optimized by the spherical node expansion strategy,thereby reducing the algorithm’s search complexity.Additionally,the line-of-sight analysis method integrating terrain information is used to optimize collision detection,ensuring the safe operation of the UAV.Finally,a trajectory smoothing method is employed to process the planned trajectory,thereby yielding a flyable trajectory that meets the UAV flight performance constraints.The findings of the simulation study demonstrate that the proposed method enhances the computational efficiency by 51%.Furthermore,it was observed that the planned trajectory can effectively circumvent complex terrain and abnormal weather threats,and can safely and feasibly reach the final point,thus verifying the effectiveness of the proposed method.

关 键 词：航迹规划 地形信息 威胁规避 A~*算法 通视分析 航迹平滑 

分 类 号：TP301.6[自动化与计算机技术—计算机系统结构]