摘要
在实战化演习演训中通常使用无人靶车作为精确制导武器的移动靶标,针对不同的作战任务无人靶车需要以不同的车速进行自主行驶,因此无人靶车需要具备在不同车速条件的路径规划能力。为解决这一问题,对传统RRT算法进行了改进。首先根据车辆的二自由度的运动学模型,计算出不同速度下的转向角度限制,并利用战场遥感地图构建二值地图,然后将车速与扩展步长进行匹配,同时在选取随机树中邻近节点的过程中加入车辆最大转向角度的限制,最后使用三次准均匀B样条曲线进行光滑拟合得到最终路径。对改进的算法进行仿真实验,仿真结果表明该算法能够完成不同车速下的路径规划任务,并在某演习战场环境下进行了验证,证明本研究为不同车速下无人靶车的路径规划问题提供了一种新的解决方案。
The unmanned target vehicles are usually used as the moving targets struck by precision guided weapons in actual combat exercises and training.In order to accomplish different combat tasks,unmanned target vehicles need to drive autonomously and plan paths at different speeds.The traditio-nal RRT algorithm was improved to solve thisn problem.Firstly,the maximum steering angles at diffe-rent speeds were calculated based on a two degree of freedom dynamic model of unmanned target vehicles.A binary map was constructed based on the remote sensing battlefield map.Secondly,the vehicle speed was matched with the expanded step size.At the same time,the limitations on the maximum steering angle wete taken into consideration when selecting adjacent nodes in the random tree.Finally,the final path was determined by the smooth fitting with the cubic quasi-uniform B-spline curve.The simulation results of the improved algorithm were verified in an exercise battlefield environment.The results show that the unmanned target vehicle can complete path planning tasks at different speeds.It means that the algotithm provides a new solution for the path planning of unmanned target vehicles at different speeds.
作者
谢高杨
房立清
李亚男
苏续军
XIE Gaoyang;FANG Liqing;LI Yanan;SU Xujun(Army Engineering University of PLA Shijiazhuang Campus,Shijiazhuang 050003,Hebei,China)
出处
《火炮发射与控制学报》
北大核心
2024年第3期80-86,共7页
Journal of Gun Launch & Control
关键词
无人靶车
路径规划
RRT算法
遥感地图
速度差异
unmanned target vehicle
path planning algorithm
RRT algorithm
remote sensing map
seed difference
