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无人机航路规划的研究
引用本文:董世友,龙国庆,祝小平.无人机航路规划的研究[J].飞行力学,2004,22(3):21-24.
作者姓名:董世友  龙国庆  祝小平
作者单位:1. 中国人民解放军电子工程学院,324教研室,安徽,合肥,230037
2. 西北工业大学,无人机所,陕西,西安,710072
摘    要:无人机的航路规划要求满足威胁回避和可飞性。采用分层的思想,基于Voronoi图产生初始航路,利用三次样条插值法平滑航路点产生无人机可飞航路,同时利用飞行过程中的信息来更新航路进行重规划。仿真结果表明了算法的有效性。

关 键 词:Voronoi图  三次样条插值  航路规划  无人机
文章编号:1002-0853(2004)03-0021-04
修稿时间:2003年8月4日

Study on Path Planning for Unmanned Aircraft Vehicle
DONG Shi-you,LONG Guo-qing,ZHU Xiao-ping.Study on Path Planning for Unmanned Aircraft Vehicle[J].Flight Dynamics,2004,22(3):21-24.
Authors:DONG Shi-you  LONG Guo-qing  ZHU Xiao-ping
Institution:DONG Shi-you~1,LONG Guo-qing~1,ZHU Xiao-ping~2
Abstract:Unmanned aircraft vehicle should have the capability that generates threat avoiding and feasible flying path. In this course the key idea is decomposition strategy, a preliminary path is generated from a Voronoi diagram based on threat locations; cubic spline is used to connect these waypoints and refine the path into a flyable path. This approach also allows pop-up threat that occurs along the path to be handled efficiently. Simulation results show the approach availably.
Keywords:Voronoi diagram  cubic spline  path planning  UAV
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