无人机航路规划研究

摘要

The target for unmanned aircraft vehicle (UAV) trajectory programming is to enable UAV to plan and replan complex tasks, of which the rapid and effective replan capability is more important. rnDuring implementing the task, the UAV tracks the real-time trajectory to finish the task. It is often calculated in term of terrain, physiognomy, obstacle, threaten, and itself maneuverability. Advantages and disadvantages of various calculating formulas are compared, and a new dynamic plan is presented. Simulation shows that the optimized reference trajectory generated by dynamic path can obtain the best flying quality.%无人机航路规划的目的是无人机具有对复杂任务进行快速规划或重规划的能力，其中快速而有效的重规划尤其重要。在无人机飞行任务执行过程中，无人机需要根据局部地形、地貌、障碍、威胁等信息以及飞机本身机动能力的限制，实时地计算出飞行航路，并跟踪该航路完成飞行任务。本文通过比较各种算法在航路规划应用中的优劣性，提出了Dynapath(动态规划)算法在无人机航路规划中的应用，给出了仿真结果。仿真结果表明：Dynapath算法生成的最优参考航路基本上满足无人机任务飞行的要求，获得了良好的飞行品质。