无人机三维实时航迹规划仿真平台

摘要

UAV route planning is a key technology in mission planning. A safe, reliable and optimal three -di-mension flight path is found with it. In this paper, a simulation platform for UAV route planning is established by u-sing of graphical user interface development environment. A variety of threats based on terrain factors are established by digital elevation model of regular network. 3D path is planning by a method combined with improved probabilistic roadmap method (PRM) and the shortest path search Dijkstra algorithm. Multiple route planning algorithms can be search by the platform. Simulation of route planning about two - dimensional and three - dimensional, real - time and non real - time, single and multiple UAVs can be made. Through the actual operation by the platform, simulation re-sults are given to verify high efficiency of improved PRM algorithm and validity and usability of the platform.%无人机航迹规划是任务规划中的关键技术,为得到一条既安全可靠又全局代价最优的三维航迹.针对实现实时动态规划最佳航迹,利用图形用户界面开发环境,规则网格的数字高程地图模型建立了基于地形因素的多种威胁源模型,采用改进型概率地图法(probabilistic roadmap method,PRM)与最短路径搜索-Dijkstra算法相结合的方法规划了三维航迹.最终设计的平台能够实现多种航迹规划算法的搜索,二维与三维、实时与非实时、单机与多机的航迹规划仿真.通过平台的实际运行,证明了改进PRM算法的高效性,同时验证了该平台的有效性与实用性.