无人飞行器在线航迹规划技术研究

在线航迹规划是针对不确定环境中的航迹规划问题，无人飞行器需要在参考飞行航线的约束下，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迹，并跟随该航迹完成飞行任务。阐述了无人飞行器在线航迹规划的结构框架，分析了无人飞行器动力学约束及威胁场约束，并根据航迹几何建模方法及在线规划算法的国内外研究概况，着重探讨了在线规划算法如A＊算法、Dynapath算法及连续型粒子群优化算法。最后，阐述了无人飞行器在线航迹规划面临的关键问题及发展趋势。

Research of real-time route planning for UAV

The real-time route planning problem of UAV is in uncertain environments. During implementing the task,the UAV tracks the real-time route to finish the task. It is often calculated in term of terrain, physiog- nomy,obstacle,threaten, and it self maneuverability. The framework of real-time route planning and analysis UAV~s dynamic constraints and the constraint of menace fields are constructed. The algorithms of real-time planning and geometric modeling home and abroad are discussed. The A＊ algorithm, Dynapath algorithm and Particle Swarm Optimization algorithm art algorithm are particularly studied. Finally, a brief conclusion of the key problems and the development trend of it are described.