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基于拟态电势能的飞行器航路规划方法

何仁珂 魏瑞轩 张启瑞 许卓凡

何仁珂, 魏瑞轩, 张启瑞, 等 . 基于拟态电势能的飞行器航路规划方法[J]. 北京航空航天大学学报, 2016, 42(7): 1543-1549. doi: 10.13700/j.bh.1001-5965.2015.0430
引用本文: 何仁珂, 魏瑞轩, 张启瑞, 等 . 基于拟态电势能的飞行器航路规划方法[J]. 北京航空航天大学学报, 2016, 42(7): 1543-1549. doi: 10.13700/j.bh.1001-5965.2015.0430
HE Renke, WEI Ruixuan, ZHANG Qirui, et al. Mimetism electric potential energy motion planning algorithm for aircraft[J]. Journal of Beijing University of Aeronautics and Astronautics, 2016, 42(7): 1543-1549. doi: 10.13700/j.bh.1001-5965.2015.0430(in Chinese)
Citation: HE Renke, WEI Ruixuan, ZHANG Qirui, et al. Mimetism electric potential energy motion planning algorithm for aircraft[J]. Journal of Beijing University of Aeronautics and Astronautics, 2016, 42(7): 1543-1549. doi: 10.13700/j.bh.1001-5965.2015.0430(in Chinese)

基于拟态电势能的飞行器航路规划方法

doi: 10.13700/j.bh.1001-5965.2015.0430
基金项目: 航空科学基金(20135896027)
详细信息
    作者简介:

    何仁珂 男,硕士研究生。主要研究方向:导航制导与控制。Tel:18700991460 E-mail: lnzrds@163.com;魏瑞轩 男,博士,教授。主要研究方向:导航制导与控制。Tel.:029-84787729 E-mail: rxwei369@soho.com

    通讯作者:

    魏瑞轩,Tel.: 029-84787729 E-mail: rxwei369@soho.com

  • 中图分类号: V279+.2

Mimetism electric potential energy motion planning algorithm for aircraft

  • 摘要: 航路规划是现代各类飞行器,特别是无人机(UAV)安全飞行和完成任务的关键要素。对于复杂威胁环境和高维空间的航路规划问题,传统规划方法在规划速度、航路安全性、算法适用性等方面存在一定的应用局限。分析了电荷在电场中移动引起电势能变化的特点规律及电势场分布特性,模拟电势场理论对飞行环境进行威胁建模,建立基于电势威胁场引导的航路节点概率选择机制及安全性评价准则。在此基础上,构建基于拟态电势能的随机采点扩展式航路规划方法。通过与传统航路规划方法的对比仿真实验表明,运用拟态电势能进行航路规划,能够显著缩短路径长度和计算时间,提高规划航路的安全性,对于航路规划的应用很有价值。

     

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出版历程
  • 收稿日期:  2015-06-29
  • 网络出版日期:  2016-07-20

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