| 无人机在线协同航迹规划时序问题 |
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| 引用本文： | 曾佳,申功璋,杨凌宇. 无人机在线协同航迹规划时序问题[J]. 南京航空航天大学学报, 2009, 41(3) |
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| 作者姓名： | 曾佳 申功璋 杨凌宇 |
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| 作者单位： | 北京航空航天大学自动化科学与电气工程学院,北京,100191;北京航空航天大学自动化科学与电气工程学院,北京,100191;北京航空航天大学自动化科学与电气工程学院,北京,100191 |
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| 摘 要： | 提出了一种满足时序约束的无人机在线协同航迹规划方法.首先采用按时间推进的协同规划机制解决了 在线协同规划中信息交互存在时间间隔的问题;其次通过设计协同函数,采用自主分布计算协同变量的方法解 决其时序问题,实现了协同无人机按照指定时间间隔先后达到目标区域.仿真选取同时到达和按等时间间隔到 达两类典型时序问题,结果表明该方法可以快速生成符合协同时序要求的协同航迹,且满足实时性要求.
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| 关 键 词： | 无人机 协同航迹规划 时序问题 在线规划 |
Timing Problem for UAV Online Cooperated Trajectory Planning |
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| Zeng Jia,Shen Gongzhang,Yang Lingyu. Timing Problem for UAV Online Cooperated Trajectory Planning[J]. Journal of Nanjing University of Aeronautics & Astronautics, 2009, 41(3) |
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| Authors: | Zeng Jia Shen Gongzhang Yang Lingyu |
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| Affiliation: | School of Automation Science and Electrical Engineering;Beijing University of Aeronautics and Astronautics;Beijing;100191;China |
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| Abstract: | An online cooperated trajectory planning approach under timing constraints is presented.Firstly,the cooperated trajectory planning adopts the time advancing mechanism to match the constraints of information transfer interval.Secondly,the cooperated function is analyzed,the distributed autonomous computing method of the cooperated variable is designed and used to solve the cooperated timing problem.Two types of timing problem to simultaneous arrival and tight sequencing arrival are considered and simulated.S... |
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