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�������պ����ѧѧ�� 2010, Vol. 36 Issue (10) :1248-1251    DOI:
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һ�ָĽ���UAV��ά����ʵʱ�滮�㷨
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Improved 3-D real-time trajectory planning algorithm for UAV
He Pingchuan, Dai Shuling*
School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China

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Abstract�� It is of vital importance to plan trajectory for unmanned aircraft vehicle (UAV) completing missions in battlefield. A method to address the real-time problem of low-altitude UAV 3-D trajectory planning in realistic battlefield was proposed. Simplified threat models of battlefield were constructed, and an algorithm based on sharing niched genetic algorithm (NGA) was developed by defining the contrast of gene to change gene-s inheritance characteristic. The improvement made superior genes easy to transmit to the next generation, targeted to accelerate the NGA converging to the global optimum and improve real-time performance of NGA. The algorithm was used to 3-D trajectory planning for UAV in virtual battlefield environments while the 3-D digital terrain space was coded by gridding with constant interval. Experimental results show the effectiveness of the proposed algorithm, and prove it meets the real-time requirement of UAV trajectory planning on-line.
Keywords�� unmanned aircraft vehicle   trajectories   planning   genetic algorithms     
Received 2009-09-15; published 2010-11-12
About author: ��ƽ��(1977-),��,����������,��ʿ��,george.hpc@gmail.com.
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��ƽ��, ������.һ�ָĽ���UAV��ά����ʵʱ�滮�㷨[J]  �������պ����ѧѧ��, 2010,V36(10): 1248-1251
He Pingchuan, Dai Shuling.Improved 3-D real-time trajectory planning algorithm for UAV[J]  JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2010,V36(10): 1248-1251
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