摘要
采用距离变换方法对动态战场环境中无人机航迹规划问题进行研究。改进了距离变换扩散过程的计算方法，使其能够以更快的速度对大范围复杂环境进行处理。针对战场环境中航迹规划的特点，在考虑航程代价的基础上，提出了基于代价的距离变换方法，将敌方威胁等因素的影响作为风险代价集成到距离变换过程中。通过对威胁值进行设置，规划时可以根据任务态势在航程代价和风险代价间实现协调以满足不同的战术要求。仿真结果表明该方法是一种有效的航迹规划方法。
A novel distance transform method is studied to resolve unmanned aerial vehicle （UAV） route planning in dynamic battlefield environment. By improving the propagation algorithm of distance transform, the process in large complex planning space is accelerated. Cost-based distance transform （CDT） algorithm is presented which integrates the influence of enemy threats into the distance transform process as risk cost. The strength of threats can be adjusted flexibly in planning process according to battlefield situation, so that the flying range cost and the risk cost of the route can be coordinated to achieve different tactical goals. The simulation results demonstrate the validity of the approach.
出处
《宇航学报》
EI
CAS
CSCD
北大核心
2006年第B12期24-28,共5页
Journal of Astronautics
基金
973基础研究项目（5130801）
关键词
无人机
航迹规划
距离变换
战场环境
Unmanned aerial vehicle
Route planning
Distance transform
Battlefield environment
