| Citation: | ZHANG Shuai, LI Xueren, ZHANG Peng, et al. UAV real-time path planning based on human-machine cooperation[J]. Journal of Beijing University of Aeronautics and Astronautics, 2017, 43(4): 814-822. doi: 10.13700/j.bh.1001-5965.2016.0271(in Chinese)
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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.
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