摘要
针对无人飞行器在飞行过程中当前的飞行状态相较于预定的状态发生超差,需对无人飞行器飞行航迹进行实时规划调整的问题,论文提出了一种基于超差信息的局部实时规划方法。该方法通过分析超差信息中飞行器飞行状态、飞行器与任务链的位置与方向关系等,给出了超差信息处理决策方法,并提出了结合有向圆的局部实时规划算法,使得规划算法能适应规划起始点与终止点复杂的位置关系和进入方向约束,并快速地找到合适的辅助导航区。实验证明:在超差发生时,该方法能很好地分析超差信息并快速规划出局部调整航迹。
According to the out-of-tolerance problem between the UAV（Unmanned Aerial Vehicle）real-time status and the predetermined one,a local real-time path planning scheme is required.In this paper,a local real-time planning scheme based on the out-of-tolerance information is proposed.Our scheme presents a decision-making approach by analyzing the UAV flying status and the relationship between UAV and the scheduled task chain.Based on the orient circle theory,a local real-time path planning algorithm is also proposed.The proposed algorithm can be used for planning the complex position and the orientation relationship between the emit point and the target point.Furthermore,the out-of-tolerance information could be well comprehended,and the time efficiency is proved in the experiment.
出处
《计算机与数字工程》
2015年第12期2158-2164,共7页
Computer & Digital Engineering
关键词
超差信息
实时规划
任务链
匹配
有向圆
flight error information
real-time path planning
task list
match
orient circle
