北京航空航天大学学报 ›› 2015, Vol. 41 ›› Issue (7): 1183-1187.doi: 10.13700/j.bh.1001-5965.2014.0479

• 论文 • 上一篇    下一篇

三维真实地形环境下无人机救援航路规划方法

梁宵1, 王宏伦2, 孟光磊1, 陈侠1   

  1. 1. 沈阳航空航天大学 自动化学院, 沈阳 110136;
    2. 北京航空航天大学 无人驾驶飞行器设计研究所, 北京 100191
  • 收稿日期:2014-07-30 修回日期:2014-11-20 出版日期:2015-07-20 发布日期:2015-07-30
  • 通讯作者: 梁宵(1984—),男,辽宁沈阳人,讲师,connyzone@126.com,主要研究方向为无人机自主控制、航路规划、任务规划. E-mail:connyzone@126.com
  • 基金资助:
    国家自然科学基金(61175084); 沈阳飞行器控制与仿真技术重点实验室建设(F14-185-1-00)

Path planning for UAV under three-dimensional real terrain in rescue mission

LIANG Xiao1, WANG Honglun2, MENG Guanglei1, CHEN Xia1   

  1. 1. School of Automation, Shenyang Aerospace University, Shenyang 110136, China;
    2. Research Institute of Unmanned Aerial Vehicle, Beijing University of Aeronautics and Astronautics, Beijing 100191, China
  • Received:2014-07-30 Revised:2014-11-20 Online:2015-07-20 Published:2015-07-30

摘要: 利用无人机(UAV)的三维飞行能力,采用优化方法规划路径,能够使其在救援任务中比地面车辆以更短的时间到达救援区域,提高救援效率.针对真实的地理环境,根据无人机约束采用均匀化网格方法进行地形建模,之后根据地形数据的特点设计适合数学计算与求解的数据结构.最后设计了包含偏离代价、高度代价、地形跟随/回避代价、威胁代价和安全距离代价的综合性能指标函数,并采用航路点交叉和网格搜索代替航路点搜索的方法,对蚁群算法进行改进完成航路规划.仿真结果表明:本文方法能够直接处理三维地形数据,在保持地貌的前提下,完成了无人机的三维航路规划任务,得到满足无人机约束的三维最优航路,提高了航路规划方法的实用价值.

关键词: 无人机(UAV)救援, 三维航路规划, 蚁群算法, 数字地图, 真实地形

Abstract: Basing on the capability of three-dimensional flight and planning of optimal path, unmanned aerial vehicles (UAVs) can reach the disaster areas within shorter time than ground vehicles, which will improve the efficiency of rescue. Firstly, according to the real geographical environment, terrain is modeled by a mesh uniform method based on UAV constraints. Secondly, a data structure which is suitable for calculation is designed based on the characteristics of terrain data. Finally, the integrative performance function includes the deviation cost, height cost, terrain following/avoidance cost, threat cost and security distance cost. Both methods of waypoints cross and grid search instead of waypoints are engaged in the improved ant colony algorithm to make three-dimensional UAV path planning. The simulation results show that the method can deal with three-dimensional terrain data directly. While maintaining the topography of the premise, it can find the three-dimensional optimal path of UAV and improve the practical value of path planning technology.

Key words: unmanned aerial vehicle (UAV) rescue, three-dimensional path planning, ant colony algorithm, digital map, real terrain

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