基于动态步长的无人机三维实时航迹规划

张帅; 李学仁; 张建业; 张鹏; 李博; 赵晓林

doi:10.13700/j.bh.1001-5965.2015.0821

基于动态步长的无人机三维实时航迹规划

doi: 10.13700/j.bh.1001-5965.2015.0821

张帅^1,,
李学仁^1, ,,
张建业²,
张鹏¹,
李博¹,
赵晓林¹

1.
空军工程大学航空航天工程学院, 西安 710038
2.
空军工程大学科研部, 西安 710051

基金项目:

航空科学基金 20145596024

陕西省自然科学基金 2014JQ8331

详细信息

作者简介:
张帅, 男, 硕士研究生, 主要研究方向:无人机实时航迹规划。Tel.:15291186798, E-mail:zscn520@sina.com

通讯作者:
李学仁, 男, 教授, 硕士生导师。主要研究方向:无人飞行器协同控制与作战管理。Tel.:029-84787712, E-mail:lixueren@126.com

中图分类号: V279
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- 文章访问数: 1004
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- 被引次数: 0
出版历程
- 收稿日期: 2015-12-17
- 录用日期: 2016-03-18
- 网络出版日期: 2017-12-20

UAV 3D real-time path planning based on dynamic step

1.
School of Aeronautics and Astronautics Engineering, Air Force Engineering University, Xi'an 710038, China
2.
Department of Science Research, Air Force Engineering University, Xi'an 710051, China

Funds:

Aviation Science Foundation of China 20145596024

Natural Science Foundation of Shanxi Province of China 2014JQ8331

More Information

Corresponding author: LI Xueren, Tel.:029-84787712, E-mail:lixueren@126.com

摘要

摘要:
针对直接在三维空间进行无人机（UAV）航迹规划难度较大的问题，将三维规划分解为二维平面规划和高度规划，最后再合成得到三维航迹，使规划空间得以简化，降低问题的复杂度；为实现在威胁区域对航迹的精细搜索，降低危险性，提出了一种根据与威胁的距离而动态调整搜索步长的策略；当无人机遇到突发威胁时，通过设置子目标点，帮助无人机快速修正航迹，实现航迹重规划。仿真试验结果验证了所提方法的有效性，无人机可以安全绕开突发威胁，实现三维规划，采用动态步长，航迹的受威胁程度降低。
- 无人机(UAV) /
- 航迹规划 /
- 子目标点 /
- 动态步长 /
- 二维平面规划 /
- 高度规划
Abstract:
Because planning unmanned aerial vehicle (UAV) path directly in 3D space is difficult, we divide 3D path planning into 2D plane path planning and height planning, and then combine them to get the 3D path so that planning space is simplified and complexity is reduced. To search the path subtly in the region near threat, we propose a dynamic searching step strategy according to the distance between UAV and threat. Setting sub-goal helps UAV to quickly modify the path and realize path re-planning when UAV meets the unexpected threat. Simulation results demonstrate that the proposed method is effective. UAV can bypass the unexpected threat and plan 3D path successfully. The threat probability of path decreases through taking dynamic step.
- unmanned aerial vehicle (UAV) /
- path planning /
- sub-goal /
- dynamic step /
- 2D plane path planning /
- height planning

HTML全文

图 1 设置子目标点

Figure 1. Sub-goal setting

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图 2 小于安全距离时步长动态调整

Figure 2. Step dynamic adjustment when distanceis less than safe distance

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图 3 圆形节点扩展示意图

Figure 3. Schematic diagram of circular expanding nodes

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图 4 H_safe的确定

Figure 4. Determination of H_safe

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图 5 航迹规划区域

Figure 5. Path planning area

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图 6 固定步长与动态步长航迹仿真

Figure 6. Path simulation with fixed step and dynamic step

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图 7 等高线投影面静态规划航迹

Figure 7. Static path planning on contour projective plane

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图 8 等高线投影面实时规划航迹

Figure 8. Real-time path planning on contour projective plane

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图 9 静态规划航迹高度剖面图

Figure 9. Height profile map of static path planning

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图 10 实时规划航迹高度剖面图

Figure 10. Height profile map of real-time path planning

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图 11 静态规划三维航迹

Figure 11. Static 3D path planning

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图 12 实时规划三维航迹

Figure 12. Real-time 3D path planning

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表 1 威胁具体参数

Table 1. Specific parameters of threats

威胁类型	中心坐标/km	中心点高度/km	λ
山峰1	(10，6)	25	0.10
山峰2	(16，32)	28	0.08
山峰3	(36，22)	18	0.05
山峰4	(32，42)	30	0.10
雷达1	(47，40)	32	0.10
雷达2	(47，46)	32	0.08
雷达3	(50，10)	40	0.08

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表 2 固定步长与动态步长仿真结果对比

Table 2. Comparison of simulation results between fixed step and dynamic step

S/km	步长策略	节点数	时间/s	航程/km	平均威胁概率
0.6	动态步长	217	2.177	99.459	0.034
0.6	固定步长	166	2.156	99.351	0.028
1.0	动态步长	129	2.076	99.472	0.038
1.0	固定步长	100	2.066	99.400	0.040
3.0	动态步长	42	1.988	98.943	0.099
3.0	固定步长	33	1.979	99.449	0.195
5.0	动态步长	25	1.971	98.263	0.269
5.0	固定步长	20	1.965	99.078	0.580

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