基于动态步长的无人机三维实时航迹规划

针对直接在三维空间进行无人机（UAV）航迹规划难度较大的问题，将三维规划分解为二维平面规划和高度规划，最后再合成得到三维航迹，使规划空间得以简化，降低问题的复杂度；为实现在威胁区域对航迹的精细搜索，降低危险性，提出了一种根据与威胁的距离而动态调整搜索步长的策略；当无人机遇到突发威胁时，通过设置子目标点，帮助无人机快速修正航迹，实现航迹重规划。仿真试验结果验证了所提方法的有效性，无人机可以安全绕开突发威胁，实现三维规划，采用动态步长，航迹的受威胁程度降低。

UAV 3D real-time path planning based on dynamic step

Because planning unmanned aerial vehicle (UAV) path directly in 3D space is difficult, we divide 3D path planning into 2D plane path planning and height planning, and then combine them to get the 3D path so that planning space is simplified and complexity is reduced. To search the path subtly in the region near threat, we propose a dynamic searching step strategy according to the distance between UAV and threat. Setting sub-goal helps UAV to quickly modify the path and realize path re-planning when UAV meets the unexpected threat. Simulation results demonstrate that the proposed method is effective. UAV can bypass the unexpected threat and plan 3D path successfully. The threat probability of path decreases through taking dynamic step.