基于改进PH曲线的无人机航迹规划
刘永兰, 李为民, 肖金科, 吕诚中, 许伟
空军工程大学防空反导学院, 西安710051
Track planning for unmanned aerial vehicles based on improved PH curves
LIU Yonglan, LI Weimin, XIAO Jinke, LÜ Chengzhong, XU Wei
Air and Missile Defense College, Air Force Engineering University, Xi'an 710051, China
摘要 航迹规划是无人机任务规划的重要组成部分。针对现有航迹规划存在的不足, 提出一种基于改进pythagorean hodo-graph(PH)曲线的航迹规划方法。该方法结合了PH 曲线的曲率连续性和粒子群优化算法的快速搜索特点, 将PH 曲线的控制点选取通过粒子群算法进行优化, 可以快速得到避障安全、满足最大曲率限制和曲率连续的最优PH 路径。仿真结果表明了该方法的有效性。
关键词 :
无人机 ,
航迹规划 ,
PH 曲线 ,
粒子群优化
Abstract :Track planning is one important factor of UAV mission planning. To aim at the shortage currently existing in track planning, a method of track planning based on improved PH curves is proposed. The characteristic of PH curves' continuous curvature is combined with the fast search of particle swarm optimization algorithm, by which choosing PH curves' control point is optimized. The optimal PH path that avoids the obstacles in the environment meets the constraint of maximum curvature, and continuous curvature can be obtained quickly. Simulation results show the validity of the method.
Key words :
unmanned aerial vehicles
track planning
PH curves
particle swarm optimization
收稿日期: 2014-12-15
通讯作者:
李为民,教授,研究方向为防空反导作战运筹分析,电子信箱:2576000402@qq.com
E-mail: 2576000402@qq.com
作者简介 : 刘永兰,博士研究生,研究方向为防空反导作战规划,电子信箱:liuyonglanco1.hi@163.com
引用本文:
刘永兰, 李为民, 肖金科, 吕诚中, 许伟. 基于改进PH曲线的无人机航迹规划[J]. 科技导报, 2015, 33(11): 69-74.
LIU Yonglan, LI Weimin, XIAO Jinke, LÜ Chengzhong, XU Wei. Track planning for unmanned aerial vehicles based on improved PH curves. Science & Technology Review, 2015, 33(11): 69-74.
链接本文:
http://www.kjdb.org/CN/10.3981/j.issn.1000-7857.2015.11.012 或 http://www.kjdb.org/CN/Y2015/V33/I11/69
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