摘要
为了实现复杂环境下多UAV协同可飞行路径规划,提出了一种基于PH曲线的路径规划算法,考虑了协同的时间和角度约束。首先,研究了PH路径长度与路径参数之间的关系,给出了简单实用的实现多UAV到达目标点处的时间和角度协同规划方法。同时,当UAV需避障时,将速度障碍法与PH路径规划相结合实现路径重规划,并以重规划路径为参考路径,通过速度或路径生成参数控制,实现多UAV协同。
In order to realize the multi-UAV coordinated flight path planning in complex environment,a path planning algorithm based on PH curves is proposed,which considers the time and angle constraints of the coordination.First,the relationship between the path length and the path parameters of PH is studied,and a simple and practical coordination planning algorithm of time and angle at the target point is given to achieve multi-UAV arriving.At the same time,when UAV needs to avoid the obstacles,the vehicle obstacle method and PH path planning are combined to realize the path replanning,which is used as the reference path,and the multi-UAV coordination is realized through the parameter control generated by vehicle or path.
作者
高晓冬
杨秀霞
张毅
GAO Xiao-dong;YANG Xiu-xia;ZHANG Yi(Ordnance Equipment Bureau of Naval Equipment Department,Beijing 100081,China;Naval Aviation University,Yantai 264001,China)
出处
《火力与指挥控制》
CSCD
北大核心
2018年第9期30-34,共5页
Fire Control & Command Control
基金
航空科学基金资助项目(20135584010)
关键词
多UAV
协同
可飞行路径规划
复杂环境
multi-UAV
coordination
flight path planning
complex environment
