摘要
在无人机任务/路径规划仿真平台中,采用模型预测控制算法解决无人机的动态路径规划问题。具体规划过程中,加入任务对飞行时间的约束条件,通过控制飞行器的航向和速度,使其有效规避地形障碍和雷达威胁,并在预定时间到达目标点或新任务中的新目标点,从而将三维路径规划拓展到四维空间中去。仿真结果表明此平台能完成四维空间中的动态路径规划,并且算法能够使无人机以较小的时间误差到达目标点,而且能够处理突发任务情况下的动态路径规划问题。
In the simulation platform of mission/path planning for an Unmanned Aerial Vehicle （UAV）,a Four-Dimension （4D） path planning system in complex environment was proposed.The algorithm Model Predictive Control （MPC） was applied in the dynamic path planning,via controlling the angle and the speed during the flight,to avoid the threat of terrains and radar,as well as to fulfill the requirement of the scheduled arriving time to the target or the target under pop-up mission.Based on the platform and the algorithm,some simulations tests were carried out.The results show that the position and the time of the target are approached closely,which gives the platform and the algorithm the rationality and the validity.
出处
《系统仿真学报》
CAS
CSCD
北大核心
2009年第24期7838-7841,共4页
Journal of System Simulation
基金
国家自然科学基金(60774064)
