北京航空航天大学学报 ›› 2017, Vol. 43 ›› Issue (4): 814-822.doi: 10.13700/j.bh.1001-5965.2016.0271

• 论文 • 上一篇    下一篇

基于人机合作的无人机实时航迹规划

张帅1, 李学仁1, 张鹏1, 张建业2, 白晗3, 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;
    3. 空军哈尔滨飞行学院 理论训练系, 哈尔滨 150001
  • 收稿日期:2016-04-07 出版日期:2017-04-20 发布日期:2016-10-10
  • 通讯作者: 李学仁,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。;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。
  • 基金资助:
    国家自然科学基金(61503405);航空科学基金(20145596024)

UAV real-time path planning based on human-machine cooperation

ZHANG Shuai1, LI Xueren1, ZHANG Peng1, ZHANG Jianye2, BAI Han3, 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;
    3. Theory Training Department, Air Force Harbin Flight Academy, Harbin 150001, China
  • Received:2016-04-07 Online:2017-04-20 Published:2016-10-10

摘要: 针对复杂多变的战场环境,无人机(UAV)在执行任务遇到突发威胁时,提出了一种人机合作的实时航迹规划方法。由人决策和分析威胁信息,给出规避方向和任务紧急程度,无人机据此采用模糊推理的方法,自主解算得到引导点的位置,牵引无人机改变航向,规避突发威胁。仿真结果表明,采用人机合作的实时航迹规划可以将人的智能决策和无人机的快速计算能力有机结合起来,规划更加优化的航迹,能动态调整引导点的位置,可根据任务的紧急程度灵活选择规避路径。

关键词: 无人机(UAV), 人机合作, 航迹规划, 突发威胁, 引导点

Abstract: A human-machine real-time path planning strategy in complex battlefield environment is proposed when unmanned aerial vehicle (UAV) is performing tasks and encounter unexpected threats. Human undertakes the tasks of making decision and analysing threat information, and then sends the messages of direction for evading unexpected threats and emergency degree of task to UAV. UAV independently calculates the position of guide point which attracts UAV to change course, realize the evasion of unexpected threats by adopting fuzzy logic method according to the message that human provides. Simulation result shows that human-machine real-time path planning strategy combines human's intelligent decision-making and UAV's fast calculation ability, optimizes the path under the condition of complex threats, and dynamically adjusts the position of the guide point. Thus evasion path can be flexibly chosen on the basis of the emergency degree of task.

Key words: unmanned aerial vehicle (UAV), human-machine cooperation, path planning, unexpected threat, guide point

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