## 留言板

 引用本文: 姚鹏, 王宏伦, 刘畅等 . 基于动态流体扰动原理的三维滚动航路规划[J]. 北京航空航天大学学报, 2015, 41(12): 2280-2287.
YAO Peng, WANG Honglun, LIU Changet al. Three-dimensional rolling path planning via dynamic fluid disturbance[J]. Journal of Beijing University of Aeronautics and Astronautics, 2015, 41(12): 2280-2287. doi: 10.13700/j.bh.1001-5965.2014.0773(in Chinese)
 Citation: YAO Peng, WANG Honglun, LIU Changet al. Three-dimensional rolling path planning via dynamic fluid disturbance[J]. Journal of Beijing University of Aeronautics and Astronautics, 2015, 41(12): 2280-2287. (in Chinese)

## 基于动态流体扰动原理的三维滚动航路规划

##### doi: 10.13700/j.bh.1001-5965.2014.0773

###### 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.
• 中图分类号: V249.1

## Three-dimensional rolling path planning via dynamic fluid disturbance

• 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.

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##### 出版历程
• 收稿日期:  2014-12-10
• 修回日期:  2015-03-06
• 刊出日期:  2015-12-20

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