基于速度矢量场的无人机实时动态航路规划

针对局域动态环境中无人机实时航路规划展开研究,提出了一种基于速度矢量场的二维动态实时航路规划方法。通过建立不同空间特征区域速度场模型,实现了速度场驱动下的无人机航路规划。文中采用虚拟目标点法解决了速度矢量场航路规划局部陷阱问题;采用探测步长法,实现了无人机机动约束的融合,解决了航路可飞性问题;在动态实时规划应用中,确立了环境信息更新方法,实现了对动态环境的描述。通过仿真验证,表明速度矢量场法能够根据动态环境信息及时规避威胁到达目标点,算法具有良好的完备性和实时性,适用于局域动态环境中的快速航迹规划。

Real-Time Path Planning of UAV Based on Velocity Vector

An on-line real-time path planning is proposed for unmanned aerial vehicle(UAV) in two-dimensional dynamic environment.A real-time planning method based on velocity vector field is developed in which the environment model is established based on the properties of special area such as radar,mountains etc.Then the driven mechanism of velocity vector field is constructed in order to realize the route planning for UAV.To solve the inherent limitations of vector field,the virtual target point is introduced to deal with the trap caused by losing lots of environment information.The detecting-step method is used to meet the requirements of maneuver capability of UAV.The simulation results show that the method based on velocity vector field is effective and feasible in real-time path planning of UAV.