| 基于B样条曲线的无人机航路规划算法 |
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| 引用本文： | 马云红,周德云.基于B样条曲线的无人机航路规划算法[J].飞行力学,2004,22(2):74-77. |
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| 作者姓名： | 马云红 周德云 |
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| 作者单位： | 西北工业大学,电子信息学院,陕西,西安,710072 |
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| 基金项目： | 国家教育部博士点基金，西北工业大学优秀青年教师基金资助 |
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| 摘 要： | 提出了一种动态环境中无人机(UAV)航路规划与重规划算法。根据战场中各个已知威胁的位置建立可行点之间的有向图，用Dijkstra算法生成一条由若干直线段连接的参考航路，再利用B样条曲线具有C^2连续性、局部性、保凸性以及B样条曲线的曲率变化比较均匀的特点，对规划的参考航路进行修正和验证，使得规划航路对无人机安全可飞。当遇到突然出现的威胁时，可对航路进行局部重规划。
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| 关 键 词： | 航路规划 航路修正 航路重规划 |
| 文章编号： | 1002-0853(2004)02-0074-04 |
| 修稿时间： | 2003年4月16日 |
B Spline Based on the Path Planning and Re-Planning for Unmanned Air Vehicles |
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| MA Yun-hong,ZHOU De-yun.B Spline Based on the Path Planning and Re-Planning for Unmanned Air Vehicles[J].Flight Dynamics,2004,22(2):74-77. |
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| Authors: | MA Yun-hong ZHOU De-yun |
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| Abstract: | An algorithm that generates a feasible flight route in the dynamic environment for an unmanned air vehicle (UAV) is presented. A coarse route which consists of a series straight-line segments is generated based on the vector graphics constructed according to the location of threats. Using the B spline's characteristic to modify the coarse route to make sure that the route is feasible. While occurring the popping threat, the algorithm can compute a new local path quickly again when the UAV flies along the previous computed path, i.e. re-planning path. |
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| Keywords: | trajectory planning trajectory modifying path re-planning |
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