摘要
提出了一种应对威胁环境信息动态变化的滚动航路规划方法。借鉴预测控制滚动优化理论,研究了航路的规划过程和滚动窗口内局部子目标与局部子规划,描述了算法步骤,讨论了算法收敛性。该算法不仅适用于二维空间或三维空间的实时滚动规划,而且还可以扩展成为一种针对动态环境和移动目标通用的模型框架。仿真结果表明,算法能够找到一条满足约束、整体较优的可行航路。
A rolling path planning scheme for dynamically changing threat environments was presented.Basing on the principles of predictive control,the path planning process,sub-goal and sub-planning of the rolling windows was studied.The algorithm and its astringency were discussed.This technique not only can plan paths in real time for 2-D or 3-D environments,it also can be extended as a normal model frame for dynamic threats and moving targets.Results of the experiment demonstrate that this method can generate a path well in whole and are able to take into account various constraints correctly.
出处
《火力与指挥控制》
CSCD
北大核心
2010年第9期84-87,共4页
Fire Control & Command Control
基金
武器装备预研基金(9140A04050407JB3201)
航天科技创新基金资助项目(CASC0209)
关键词
动态环境
无人作战飞机
航路规划
滚动规划
dynamic environments
unmanned combat air vehicle
path planning
rolling planning
