多无人机飞行路径自动规划算法研究

摘要

The path planning plays an important role in the reconnaissance task of unmanned air vehicle(UAV).Aiming at auto flight path planning algorithm of multi⁃UAV,this paper analyzes the key technologies of modeling and algorithm design.The algorithm uses Voronoi diagram for path planning. Based on the constructed battlefield environment V diagram, the Dijkstra algorithm in graph theory is used for initial path search and optimization.The simulation results show that this algorithm can be used to plan flight path for a typical multi⁃UAV flight task,and adapt to multiple constraint conditions.At last,it is shown that reasonable results of path planning are obtained.%路径规划对无人机完成其侦察作战任务具有重要意义。针对多无人机飞行路径自动规划算法，从模型建立和算法设计2个方面对规划过程中的关键技术进行了详细分析。算法采用构造Voronoi多边形图的方法来进行路径规划。基于构建的战场环境V图，采用图论中的Dijkstra 算法，对V图进行搜索得到初始航路并进行优化。经过分析仿真结果证明，该算法能对典型的多无人机飞行任务进行路径规划，并能满足多种约束条件，获取合理的规划结果。