| 无人机航路规划的研究 |
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| 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 |
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| 作者姓名： | 董世友 龙国庆 祝小平 |
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| 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 |
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| 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。
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| 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： | 2003-08-04 |
Study on Path Planning for Unmanned Aircraft Vehicle |
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| 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 |
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| Authors: | DONG Shi-you LONG Guo-qing ZHU Xiao-ping |
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| Affiliation: | DONG Shi-you~1,LONG Guo-qing~1,ZHU Xiao-ping~2 |
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| 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. |
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| Keywords: | Voronoi diagram cubic spline path planning UAV |
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