无人机复杂环境中跟踪运动目标的实时航路规划

梁宵; 王宏伦; 曹梦磊; 郭腾飞

无人机复杂环境中跟踪运动目标的实时航路规划

北京航空航天大学飞行器控制一体化技术重点实验室, 北京 100191

基金项目: 中央高校基本科研业务费专项资金资助项目(YWF-10-01-B015)

详细信息

中图分类号: V249.1
计量
- 文章访问数: 1901
- HTML全文浏览量: 211
- PDF下载量: 871
- 被引次数: 0
出版历程
- 收稿日期: 2011-07-28
- 网络出版日期: 2012-09-30

Real-time path planning to track moving target in complex environments for UAV

Science and Technology on Aircraft Control Laboratory, Beijing University of Aeronautics and Astronautics, Beijing 100191, China

摘要

摘要: 在复杂地形环境中,无人机在跟踪运动目标时,现有的航路规划方法在实时性和可行性上存在一定缺陷.提出了一种新的滚动窗口启发方向计算方法,使其能够跟踪运动目标,同时在滚动窗口内采用流函数法进行避障.根据无人机约束,滚动窗口为三角形,并设计了基于行为的伸缩功能.在流函数中,利用水势能方法克服了陷阱地形并进行了航路平滑.仿真结果表明:这种混合算法对于复杂地形条件下跟踪运动目标的航路规划,能够减小规划算法的时间和空间复杂度,使规划出的航路适于无人机飞行.
- 无人机 /
- 实时航路规划 /
- 运动目标跟踪 /
- 复杂环境
Abstract: In complex environments, when unmanned aerial vehicle (UAV) tracks a moving target, there are some defects on real-time capability and feasibility in the existing algorithm of path planning. A new heuristic direction of the rolling window was designed to make route search and track moving target. In the rolling window, the stream function was utilized for avoiding obstacle. To satisfy the constraints of UAV, the rolling window was triangle, also with adaptive function. In potential flows, a potential function was proposed to overcome the trap of terrain, and the route was smoothed. The simulation results show that this hybrid method could reduce the time and space complexity, and find a satisfactory route for UAV in complex environments when tracks moving target.
- unmanned aerial vehicle(UAV) /
- real-time path planning /
- moving target tracking /
- complex environments

HTML全文

参考文献(13)

[1]	Katsushi Mitsutake,Shin-Ichiro Higashino.An A^*-EC hybrid path planning method for waypoint traveling problem considering terrain. AIAA-2008-7133,2008
[2]	Amin J N,Boskovic J D,Mehra R K.A fast and efficient approach to path planning for unmanned vehicles. AIAA-2006-6103,2006
[3]	Nielsen C L,Kavraki L E.A two level fuzzy PRM for manipulation planning//Proceedings of the 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems.Takamatsu:IEEE,2000:1716-1721
[4]	Wang N,Gu X Q,Chen J,et al.A hybrid neural network method for UAV attack route integrated planning [J].Advances in Neural Networks,2009,5553:226-235
[5]	Sullivan J,Waydo S,Campbell M.Using stream functions for complex behavior and path generation. AIAA-2003-5800,2003
[6]	Waydo S,Murray R M.Vehicle motion planning using stream functions//Proceedings of the 2003 IEEE International Conference on Robotics and Automation.Taipei:IEEE,2003:2484-2491
[7]	Zhang C G,Xi Y G.Sub-optimality analysis of mobile robot rolling path planning [J].Science in China:Series F,2003,46(2): 116-125
[8]	Guo X Q.Coverage rolling path planning of unknown environments with dynamic heuristic searching//2009 WRI World Congress on Computer Science and Information Engineering.Los Angeles:IEEE,2009:261-265
[9]	Wang N,Chen P.Path planning algorithm of level set based on grid modeling//2010 International Conference on Computer Design and Applications (ICCDA).Hengshui:IEEE,2010:508-510
[10]	Agirrebeitia J,Aviles Rafael,Bustos I F,et al.A new APF strategy for path planning in environments with obstacles [J].Mechanism and Machine Theory,2005,40(6):645-658
[11]	Xiao B X,Li Y H,Liu G,et al.Path planning algorithm of level set based on grid modeling//Robot Rolling Path Planning with the Optimization Target of Expected Direction Angle.Kunming:IEEE,2008:466-470
[12]	张纯刚.基于滚动窗口的移动机器人路径规划[J].系统工程与电子技术,2002,24(6):63-69 Zhang Chungang.Mobile robot path planning based on rolling windows [J].Systems Engineering and Electronics,2002,24(6): 63-69(in Chinese)
[13]	吴强,金长江.一种快速构造雷达地形遮蔽盲区的方法[J].北京航空航天大学学报,2002,28(6):633-635 Wu Qiang,Jin Changjiang.Quick construction of radar blind space for stealthy penetration [J].Journal of Beijing University of Aeronautics and Astronautics,2002,28(6):633-635(in Chinese)