摘要
无人机的路径规划是其自主能力的重要支撑,固定翼无人机具有飞行速度快、续航能力强、承载能力大等优势,但同时也面临着运动特性约束更强的技术挑战。当前应用于旋翼无人机和机器人的路径规划方法并不能很好的适用于固定翼无人机。结合固定翼无人机的性能特征,在环境栅格化建模过程中进行了系统性分析与优化,提出了一种与无人机性能特性相关的新型栅格地图构建方法。该方法充分有效的保证了相邻栅格节点之间的运动可达性,为基于栅格地图的固定翼路径规划提供了更为可靠的基础。创新性地将时间、能耗和安全性等多维权重因子引入路径规划方法,使其与固定翼无人机在不同节点间的实际运动消耗相匹配。并通过权重因子的动态调节,使其能够灵活适应不同场景下的多样化任务要求。为验证所提方法的有效性和先进性,进行了全面实验评估。结果表明,改进后的路径规划算法在固定翼无人机的任务执行中展现出显著优势,可为其提供更为高效、安全和经济的飞行路径选择。
The path planning is an important supportive technology for their autonomous ability.The fixed-wing UAV has the advantages of fast flight speed,long endurance and large carrying capacity.However,due to its flight characteristics and dynamic constraints,many path planning algorithms currently applied to multiple rotors and robots are not well suited for fixed wing UAV.Therefore,a rasterization method correlated with UAV performance characteristics and suitable for the flight environment of fixed wing UAVs is studied,it ensures the kinematic accessibility between grid nodes and makes the path planning algorithm based on raster maps more applicable to fixed wing UAV.Furthermore,multidimensional weighting factors including time,energy consumption,and safety are introduced into path planning methods to match the actual motion consumption of fixed wing UAV between different nodes.The method can be adapted to different task requirements by adjusting weight factors.Finally,the validation of the method was conducted through a flight simulation.The results show that the improved path planning algorithm exhibits significant advantages in the task execution of fixed wing UAV,providing them with more efficient,safe,and economical flight path selection.
作者
王安
张可
罗巍
颜鸿涛
宋宏川
WANG An;ZHANG Ke;LUO Wei;YAN Hongtao;SONG Hongchuan(Aerospace Technology Institute,China Aerodynamic Research and Development Center,Mianyang 621000,China)
出处
《兵器装备工程学报》
北大核心
2025年第8期20-28,共9页
Journal of Ordnance Equipment Engineering
