| 突发威胁下的航迹规划问题研究 |
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| 引用本文： | 刘月,刘文杰,刘敏,魏瑞轩,张煜.突发威胁下的航迹规划问题研究[J].飞行力学,2009,27(5). |
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| 作者姓名： | 刘月 刘文杰 刘敏 魏瑞轩 张煜 |
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| 作者单位： | 空军工程大学工程学院;空军装备部科订部;63650部队通信总站; |
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| 摘 要： | 提出采用一种结合三角网格退化、变域动态规划以及航迹优化的方法来解决突发威胁下的航迹规划问题。针对无人飞行器航迹规划中应对突发威胁存在时间延迟过长问题,采用一种速度较快的退化网格方法,有效提高了重规划的速率。在动态规划中,采用一种有向变域动态规划方法,进一步缩短了路径生成的时间。仿真结果显示,该方法能有效减少时间延迟过长问题,并满足地形回避和威胁回避的要求。
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| 关 键 词： | 网格退化 变域动态规划 突发威胁 航迹规划 |
Study on Path Planning with Sudden Appearing Threats |
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| LIU Yue,LIU Wen-jie,LIU Min,WEI Rui-xuan,ZHANG Yu.Study on Path Planning with Sudden Appearing Threats[J].Flight Dynamics,2009,27(5). |
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| Authors: | LIU Yue LIU Wen-jie LIU Min WEI Rui-xuan ZHANG Yu |
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| Institution: | 1.Institute of Engineering;Air Force Engineering University;Xi'an 710038;China;2.Ke-Ding Department of Air Force Equipment Ministry;Beijing 100067;3.Signal Station of Unit 63650;Malan 841700;China |
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| Abstract: | A fast path planning method by optimization of a path graph is proposed and simulated.This method combined the ameliorated grid degenerate and dynamic programming,it can solve the problem of time delay in path planning with sudden appearing threats.Triangular grid degenerate can improve the speed of path planning obviously and make sure the path is optimal;the variation field dynamic programming can improve the speed more.From the result of the simulation,this method could apply to solve the problem on path... |
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| Keywords: | grid degenerate variation field dynamic programming sudden appearing threats path planning |
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