CAJ | 학술논문

本文介绍了无人机（UAV：UnmannedAerialVehicle）航路规划的分层模式，提出了实时航路规划中四维接近算法，对UAV与静态和动态目标的接近距离进行了分析计算，为航路规划及时提供飞行过程中的危险接近信息，并进行了数字仿真。数字仿真表明：该算法具有较高的运算速度和较好预测精度，可快速提供UAV与周围静态和动态目标距离信息，提高UAV航路动态规划的实效性。
본문개소료무인궤（UAV：UnmannedAerialVehicle）항로규화적분층모식，제출료실시항로규화중사유접근산법，대UAV여정태화동태목표적접근거리진행료분석계산，위항로규화급시제공비행과정중적위험접근신식，병진행료수자방진。수자방진표명：해산법구유교고적운산속도화교호예측정도，가쾌속제공UAV여주위정태화동태목표거리신식，제고UAV항로동태규화적실효성。
This paper introduces the layer mode of UAV Route Planning, and puts forward a 4D approach algorithm of real-time route planning and calculates the approach distance between UAV and the static or mobile target. This algorithm can provide warning of near miss during flight. The digital simulation of the algorithm demonstrates that it has high computing speed and good accuracy forecast. It can improve the performance UAV Route Planning.