摘要
针对无人机航迹规划的实时重规划能力,研究了局部路径构图的基本原则并提出了一种突发威胁体下无人机局部路径重规划的算法。首先根据不同威胁体的分布情况构造无人机的可飞航路集,用“改进型Voronoi图”表示出来,采用Dijkstra算法求解初始粗略最短路径。在无人机飞行过程中,通过基于混合动态贝叶斯网络的切换线性动态系统模型感知环境,应用Viterbi应用解码算法确定突发威胁体的实时位置及威胁等级,后依据局部路径重规划原则进行寻优,最后应用三次平滑及序列二次规划方法获得实际可飞路径。用Matlab仿真验证,证明了算法有效性。
The principle to construct local path diagram with sudden appear threats is established, and a local path replanning scheme for unmanned combat air vehicle（UCAV） is developed. Firstly, constructing and searching an improved voronoi diagram based on the locations of the different threats, an initial reference threat-avoiding flight path to the target is generated using Dijkstra algorithm. Secondly, switching linear dynamic system（SLDS） based on Mix-state dynamic bayesian networks（DBN） is uesd for apperceiving battlefield＇s situation change. The location and threat of sudden appear threats are estimated using Viterbi approximation algorithm. The next, a best local path can be found out using base principle. In the end, cubic spline theory and sequential quadratic programming are used for optimizing the initial reference path. The optimized path is flyable to the unmanned combat air vehicle. The Matlab simulation result demonstrates the local path planning algorithm is effective.
出处
《系统仿真学报》
EI
CAS
CSCD
北大核心
2006年第5期1301-1306,共6页
Journal of System Simulation
基金
国家自然科学基金重大研究计划(90205019)
航空支撑基金(04C53008)
航空基金(05D53022)
西安工业大学校长基金(XGYJJ0526)
