系统工程与电子技术
繫統工程與電子技術
계통공정여전자기술
SYSTEMS ENGINEERING AND ELECTRONICS
2015年
2期
323-330
,共8页
多无人飞行器%PH 曲线%航迹规划%分布估计算法%速度障碍法
多無人飛行器%PH 麯線%航跡規劃%分佈估計算法%速度障礙法
다무인비행기%PH 곡선%항적규화%분포고계산법%속도장애법
unmanned aerial vehicles (UAVs)%Pythagorean Hodograph curve%trajectory planning%esti-mation of distribution algorithm%velocity obstacles
研究无人飞行器（unmanned aerial vehicle，UAV）在线可飞行航迹的自主规划对 UAV 适应非结构化环境、提高机动作战能力具有重要的现实意义。提出了一种基于 Pythagorean Hodograph （PH）曲线的 UAV 在线航迹生成算法，可以根据 UAV 当前的飞行状态、目标点信息及传感器探测信息实时规划出曲率连续的可避碰飞行航迹。考虑系统动态性能约束，采用分布估计算法对航迹参数进行优化选取，提出基于区间选优的全局精英个体概率选择机制，提高了航迹生成的速度及精度。根据速度障碍法原理，结合 PH 曲线的特点，给出了高动态环境下多 UAV 的实时动态避碰规划算法，该算法能使轨迹快速趋近于目标。对一组 UAV 的航迹规划在不同环境下进行了仿真实验，仿真结果证明了算法的有效性和实用性。
研究無人飛行器（unmanned aerial vehicle，UAV）在線可飛行航跡的自主規劃對 UAV 適應非結構化環境、提高機動作戰能力具有重要的現實意義。提齣瞭一種基于 Pythagorean Hodograph （PH）麯線的 UAV 在線航跡生成算法，可以根據 UAV 噹前的飛行狀態、目標點信息及傳感器探測信息實時規劃齣麯率連續的可避踫飛行航跡。攷慮繫統動態性能約束，採用分佈估計算法對航跡參數進行優化選取，提齣基于區間選優的全跼精英箇體概率選擇機製，提高瞭航跡生成的速度及精度。根據速度障礙法原理，結閤 PH 麯線的特點，給齣瞭高動態環境下多 UAV 的實時動態避踫規劃算法，該算法能使軌跡快速趨近于目標。對一組 UAV 的航跡規劃在不同環境下進行瞭倣真實驗，倣真結果證明瞭算法的有效性和實用性。
연구무인비행기（unmanned aerial vehicle，UAV）재선가비행항적적자주규화대 UAV 괄응비결구화배경、제고궤동작전능력구유중요적현실의의。제출료일충기우 Pythagorean Hodograph （PH）곡선적 UAV 재선항적생성산법，가이근거 UAV 당전적비행상태、목표점신식급전감기탐측신식실시규화출곡솔련속적가피팽비행항적。고필계통동태성능약속，채용분포고계산법대항적삼수진행우화선취，제출기우구간선우적전국정영개체개솔선택궤제，제고료항적생성적속도급정도。근거속도장애법원리，결합 PH 곡선적특점，급출료고동태배경하다 UAV 적실시동태피팽규화산법，해산법능사궤적쾌속추근우목표。대일조 UAV 적항적규화재불동배경하진행료방진실험，방진결과증명료산법적유효성화실용성。
The study of autonomous planning of unmanned aerial vehicles (UAVs )feasible on-line path has an important practical significance for UAV to adapt to unstructured environment and improve maneuvering warfare capa-bility.An online trajectory planning algorithm of UAV based on Pythagorean Hodograph (PH)curve is put forward. According to the UAV’s current flight state,the target’s state,and the sensors’detecting information,collision a-voidance feasible trajectories which have continuous curvature are planned out in real-time.Considering the kinematics and dynamic constraints,the distribution estimation algorithm is used to optimize the selection of path parameters,and the probability selection mechanism of global elite individuals based on interval selection is raised,which improve the speed and precision of the path generation.According to the principle of velocity obstacles,combing the characteristics of PH curves,the dynamic collision avoidance path planning algorithm is designed,which pro-vides fast convergence to the final trajectory.Simulation results for a set of UAVs in environments with differ-ent configurations prove the validity and practicability of the algorithm.
