In order to research on autonomous path planning for unmanned air vehicles searching uncertain environment with prior information, a mesh model method was proposed for path planning. Firstly, mission area was divided into weighted meshes considering the existence probability of targets. Secondly, a control model was built according to a path decision set and sensor sweep model was proposed to describe coverage area of a prospecting apparatus carried by unmanned air vehicles. Thirdly, control model and sensor sweep model were applied to calculate the path value of next limited steps. Then an optimum path decision was carried out through solving a dynamic programming. Lastly, a simulation testing for unmanned air vehicles searching uncertain environment was designed, and the simulation results proved the effectiveness of the method.%关于优化无人机覆盖路径规划,应便于实时调整航路.实施战场游弋侦察的无人机要搜索含有先验信息的任务区域,并且没有确定的目标点.针对战场环境瞬息万变,提出了网格模型的航路规划方法.首先,将无人机的任务环境区域划分为若干网格单元,并根据存在目标的概率赋予网格单元权值.接着,依据航路决策集合建立了控制模型,根据探测区域对环境网格的覆盖情况建立了探测模型,采用控制和探测模型计算有限步长内的航路价值,通过求解一个动态规划得到当前状态下的最优航路决策.最后通过对一架和多架无人机侦察给定区域的仿真,验证了方法的有效性,为设计航路提供了科学参考.
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