北京航空航天大学学报 ›› 2016, Vol. 42 ›› Issue (12): 2745-2754.doi: 10.13700/j.bh.1001-5965.2015.0821

• 论文 • 上一篇    下一篇

基于动态步长的无人机三维实时航迹规划

张帅1, 李学仁1, 张建业2, 张鹏1, 李博1, 赵晓林1   

  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
  • 收稿日期:2015-12-17 出版日期:2016-12-20 发布日期:2016-04-13
  • 通讯作者: 李学仁,Tel.:029-84787712,E-mail:lixueren@126.com E-mail:lixueren@126.com
  • 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;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
  • 基金资助:
    航空科学基金(20145596024);陕西省自然科学基金(2014JQ8331)

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

ZHANG Shuai1, LI Xueren1, ZHANG Jianye2, ZHANG Peng1, LI Bo1, ZHAO Xiaolin1   

  1. 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
  • Received:2015-12-17 Online:2016-12-20 Published:2016-04-13
  • Supported by:
    Aviation Science Foundation of China (20145596024); Natural Science Foundation of Shanxi Province of China (2014JQ8331)

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。

关键词: 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.

Key words: unmanned aerial vehicle (UAV), path planning, sub-goal, dynamic step, 2D plane path planning, height planning

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