无人机航迹规划算法的初步研究  

Initial Study on the Path Planning's Algorithms for Unmanned Aerial Vehicles

作　　者：唐强[1] 张翔伦[1] 左玲[1] 

机构地区：[1]飞行自动控制研究所,陕西西安710065

出　　处：《航空计算技术》2003年第1期125-128,132,共5页Aeronautical Computing Technique

摘　　要：航迹规划算法是无人机的关键技术之一,本文初步综述了近年来国内外在该领域的主要研究成果。首先给出了航迹规划的描述和涉及的关键问题,然后着重介绍了几种较为常用的规划算法,如A-Star算法、遗传算法、神经网络、Voronoi图、PRM(ProbabilisticRoadmap)、RRTs(RapidlyExploringRandomTrees)、人工势场法、基于案例的算法等,最后讨论了航迹规划算法存在的问题和面临的挑战,指出飞行中实时重规划的研究是航迹规划未来主要的发展方向。One of the key technologies for unmanned aerial vehicles (UAVs) is the study of path planning's algorithms. In this paper, an initial survey of recent work in this field is given. Firstly, the description of path planning and some related issues are introduced. Secondly, several common used algorithms are discussed respectively, such as A-Star algorithms, genetic algorithms, neural networks, probabilistic roadmap, rapidly exploring random trees, artificial potential field methods, case based algorithms and so on. Finally, the existing problems and challenges are also discussed, and in-flight real time re-planning problems is pointed out as a main future research direction.

关 键 词：航迹规划 算法 重规划 无人驾驶飞机 

分 类 号：V249[航空宇航科学与技术—飞行器设计] V279