论文部分内容阅读
针对实际战场环境中规避突然出现的危险/威胁区域或任务变更时的无人机(unmanned aerial vehicle,UAV)路径动态再规划问题,为了适应复杂动态环境下危险/威胁区域需建模为圆形、凹/凸多边形以及可能存在相邻危险/威胁区域的间距较小甚至重叠的情形,对基于A*算法的线段求交无人机路径规划方法进行改进以适应圆形、凹/凸多边形危险/威胁区域同时存在的情形,提出了子节点安全性检测策略,采用基于A*算法的两步寻优路径搜索策略,进行UAV路径动态规划。仿真结果表明,采用本文提出的改进方法可实现上述复杂环境下的无人机路径动态再规划。
Aiming at the dynamic reconfiguration of unmanned aerial vehicle (UAV) path in the actual battlefield environment to avoid the emergent danger / threat area or task change, in order to adapt to the hazard / threat area in complex dynamic environment, , Concave / convex polygons, and the possible existence of small or even overlapping of adjacent dangerous / threat areas, the A * algorithm based segment intersection UAV path planning method is improved to adapt to the circular, concave / convex polygon hazard / Threatening region, a sub-node security detection strategy is proposed, and a two-step search strategy based on the A * algorithm is adopted to conduct UAV path dynamic programming. The simulation results show that using the improved method proposed in this paper, the dynamic re-planning of UAV path under the above complex environment can be realized.