摘要
无人机由于其高可控性、高机动性、零伤亡等优点,在边防巡逻、抢险救灾、侦察打击等定点侦察类任务中发挥越来越重要的作用。研究设计复杂环境下的定点侦察任务航线智能规划系统,对提高作业安全性和有效性具有重要意义。在对定点侦察类任务分析后,进行任务拆解。分别对二维避障航线规划、三维避障航线规划、多目标点遍历三部分进行算法设计。针对A*算法大范围搜索效率低的问题,提出了剪枝和节点分代搜索方法。针对多点遍历存在的组合爆炸问题,提出了自适应遗传算法的解决方案。最后结合具体的仿真实例,验证了规划系统性能。结果表明,通过无人机定点侦察任务智能航线规划系统设计,可以快速实现对多目标点生成避障、遍历航线,提高飞机任务执行效率和安全性。
Because of its high controllability,high mobility,zero casualties and other advantages,UAV plays an increasingly important role in such fixed-point reconnaissance missions as Border Patrol,disaster rescue,reconnaissance and strike.It is important to study and design the route intelligent planning system of fixed-point reconnaissance mission in complex environment to improve the security and effectiveness of the operation.After analyzing the fixed-point reconnaissance task,the task was disassembled.Two-dimensional obstacle avoidance route planning,three-dimensional obstacle avoidance route planning and multi-objective point traversal were designed respectively.Aiming at the low efficiency of A algorithm in large-scale search,a pruning and node generation search method was proposed.An adaptive genetic algorithm(AGA)was proposed to solve the combination explosion problem of multi-point ergodic.Finally,the performance of the planning system was verified by a concrete simulation example.The results show that through the design of the intelligent route planning system for unmanned aerial vehicle fixed-point reconnaissance missions,it is possible to quickly generate obstacle avoidance and traverse routes for multiple target points,thereby improving the efficiency and safety of aircraft mission execution.
作者
行九晖
李震领
李梁
孙文博
吕鑫
XING Jiu-hui;LI Zhen-ling;LI Liang;SUN Wen-bo;L Xin(CGN(Guangdong)New Energy Investment Co.,Ltd.,Shenzhen 518000,China;CGN Wind Power Co.,Ltd.,Beijing 100070,China;Institute of Unmanned System,Beihang University,Beijing 100191,China;Zhongbing UAV Research Institute Co.,Ltd.,Beijing 102211,China)
出处
《科学技术与工程》
北大核心
2025年第29期12722-12731,共10页
Science Technology and Engineering
