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ID:23051492
大小:3.61 MB
页数:138页
时间:2018-11-03
《无人机路径规划方法研究》由会员上传分享,免费在线阅读,更多相关内容在教育资源-天天文库。
1、摘要随着无人机越来越多地用于军事和民事领域,与之相关的路径规划问题也受 到各国科研工作者的广泛关注。在计算机技术和航天技术的大力推动下,无人机路径规无划人系机统路在径无规人划机的执目行的作是战根任据务任的务过需程求中规起划着出至满关足重约要束的条作件用的。飞行路径,是 无人机任务规划的核心部分。本文对无人机离线路径规划、遭遇突发情况下的在线路径在重离规线划路以径及规多划机方协面同,路针径对规原划始等关键技术进行了研究和分析。RRT算法搜索范围大,效率低等缺点,引入启缩发小式了方算向法增的强搜的索方范法围对,随并机且树规的划扩出展的方路向径进
2、更行短引更导优,。使针其对易在于线向路目径标重方规向划扩,展引, 入遭威遇胁突概发率情况方时法,对威能胁够区立域即进向行着建威模胁,概使率随减机小树的朝方着向威及胁时概规率避降,低可的以方满足向路生径长重,规机划协的同时方面效,性采要用求分,必层要规时划还方可法以进根行据编任队务协要同求路选径择规通划,过并可对穿越现威有胁方区法域存。在在的多一 些缺陷进行了分析,给出了改进方法,较大程度地保留了最优路径,同时不需要建立备基选于路以径上集研合究,内遭容遇,利突用发情况时能够及时进行路径重规划。 MATLAB工具对路径规划方法进行了仿真实验,结
3、果表明,采用的方法实际可行。RRTIIIABSTRACTWiththeincreasinguseofunmannedaerialvehicle(UAV)inmilitaryandcivilianfields,UAVflightpathplanningattractstheattentionofscientificresearchersfromallcountries.Withthedevelopmentofcomputertechnologyandaerospacetechnology,UAVpathplanningsystemplaysa
4、nimportantroleintheprocessofUAVcombatmission.UAVpathplanning,thekeycomponentofUAVmissionplanningsystem,istoplantheflightpathundersomeconstraints.Thispapermainlystudiessomekeyissues,includingoff-linepathplanning,on-linepathre-planningwithunexpectedsituations,andcooperativep
5、athplanningforUAVs.Firstly,intermsofoff-linepathplanning,theoriginalRRTalgorithmisimprovedusing heuristicdirectionenhancement,whichmakesrandomtreeseasytoextendinthe directionoftarget,andmakesthesearchrangesmallerandthepathshorterandbetter. Thenintermsofthetimelinessrequire
6、mentsofon-linepathplanningweintroduce threatprobabilitymethodtosimulatethreatenedareas,whichmakestherandomtree extendinthedirectionofthelowerthreatprobability.ItensuresthattheUAVcanbe abletoreactimmediatelyandavoidthreatareaincaseofemergency.TheUAVcanalsotheend,two-stagepl
7、anningmethodisusedtosolvetheproblemofcooperativepathpassthroughthethreatenedareaaccordingtomissionrequirementswhennecessary.Inplanningformultipleunmannedaerialvehicles.Byanalyzinglimitationsofexistingmethods,weputforwardanimprovedmethod,whichgreatlyretainedoptimalpathswith
8、outestablishingalternativepathsetatthesametime,thusbeingabletore-plantimelywhenfacedwithe
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