北京航空航天大学学报 ›› 2015, Vol. 41 ›› Issue (12): 2280-2287.doi: 10.13700/j.bh.1001-5965.2014.0773

• 论文 • 上一篇    下一篇

基于动态流体扰动原理的三维滚动航路规划

姚鹏1,2, 王宏伦1,2, 刘畅1,2   

  1. 1. 北京航空航天大学 自动化科学与电气工程学院, 北京 100191;
    2. 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
  • 收稿日期:2014-12-10 修回日期:2015-03-06 出版日期:2015-12-20 发布日期:2016-01-04
  • 通讯作者: 王宏伦(1970-),男,陕西西安人,教授,hl_wang_2002@126.com,主要研究方向为无人机自主飞行控制、管理与决策. E-mail:hl_wang_2002@126.com
  • 作者简介:姚鹏(1989-),男,山东潍坊人,博士研究生,yaopenghappy@163.com
  • 基金资助:
    国家自然科学基金(61175084)

Three-dimensional rolling path planning via dynamic fluid disturbance

YAO Peng1,2, WANG Honglun1,2, LIU Chang1,2   

  1. 1. School of Automation Science and Electrical Engineering, Beijing University of Aeronautics and Astronautics, Beijing 100191, China;
    2. Science and Technology on Aircraft Control Laboratory, Beijing University of Aeronautics and Astronautics, Beijing 100191, China
  • Received:2014-12-10 Revised:2015-03-06 Online:2015-12-20 Published:2016-01-04

摘要: 针对复杂环境中存在运动目标、移动威胁与突发威胁等多种情况,将动态流体扰动算法与滚动优化策略相结合,进行无人机(UAV)三维动态航路规划.基于移动目标运动信息与威胁运动信息引入相对初始流场,用扰动矩阵量化表示障碍物或威胁对相对初始流场的扰动影响,计算相对扰动流场,进而得到实际流场流线即无人机规划航路.充分利用实时环境信息,综合考虑未来运动态势,在有限时域内采用动态流体扰动算法规划出可选航路,然后构建目标函数,滚动优化反应系数,实现在线航路规划.仿真结果表明,该算法能较好地适用于复杂动态环境.

关键词: 无人机(UAV), 三维动态航路规划, 复杂环境, 动态流体扰动, 滚动优化

Abstract: Considering the existence of moving target, moving threat and emergent threat in complex environment, the method of dynamic fluid disturbance and the rolling optimization strategy were combined for the three-dimensional dynamic path planning of unmanned aerial vehicle (UAV). Based on the motion information of moving target and threat, the relative initial fluid was constructed. Then, the influence of obstacles or threats on the relative initial fluid was quantized by the disturbance matrix. The relative modified flow was then obtained by modulation. Then the actual streamline which was the planning path, was easily accomplished. By fully utilizing the real-time environmental information and considering the motion in the future, the method of dynamic fluid disturbance was utilized to plan local path in limited time-domain. And the objective function was built and the reactive parameter was obtained by rolling optimization to realize the online path planning. Finally, the effectiveness of the method in complex dynamic environment is indicated.

Key words: unmanned aerial vehicle (UAV), three-dimensional dynamic path planning, complex environment, dynamic fluid disturbance, rolling optimization

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