基于风场信息的无人机在线航迹规划方法 -- 西北工业大学,2012,30(4):576-581
论文:2012,Vol:30,Issue(4):576-581
引用本文:
屈耀红, 肖自兵, 袁冬莉. 基于风场信息的无人机在线航迹规划方法[J]. 西北工业大学
Qu Yaohong, Xiao Zibing, Yuan Dongli. An Effective Method of UAV Flight Path Planning On-Line in Wind Field Using Improved A * Searching Algorithm[J]. Northwestern polytechnical university

基于风场信息的无人机在线航迹规划方法
屈耀红, 肖自兵, 袁冬莉
西北工业大学 自动化学院,陕西 西安 710072
摘要:
风场是影响无人机飞行速度的一个重要因素。为了缩短任务执行中的飞行时间,考虑战场环境存在外界威胁情况,提出了一种利用组合导航在线估计风场信息的无人机航迹规划方法。该方法基于飞行时间为代价,利用改进的A*搜索算法对航迹进行顺风搜索,从而实现最短理想耗时的航迹规划。计算机仿真结果表明,与传统的最短航迹长度规划方法相比,无人机按该方法规划的航迹飞行时,理想耗时最少。
关键词:    无人机    风场    航迹规划    A*搜索算法   
An Effective Method of UAV Flight Path Planning On-Line in Wind Field Using Improved A * Searching Algorithm
Qu Yaohong, Xiao Zibing, Yuan Dongli
Department of Automatic Control,Northwestern Polytechnical University,Xi'an 710072,China
Abstract:
To shorten the flight time of UAV,we propose an algorithm of UAV flight path planning on-line underbattle field threats. Sections 1 through 3 of the full paper explain our method of flight path planning mentioned inthe title,which we believe is better than the existing ones and whose core consists of: “UAV estimates the windfield information on-line using our proposed method during the flight. Then the choice of the extend nodes in A *search algorithm is considered according to the wind direction and the cost function is designed as the flight time".Section 3 is entitled“Method of UAV Flight Path Planning On-Line in Wind Field Using Improved A* SearchingAlgorithm"; for convenience,we divide it into four sub-sections: 3. 1,3. 2,3. 3 and 3. 4. Simulation results,presented in Figs. 4 and 5 and Table 2,and their analysis show preliminarily that the flight time is indeed less thanthat obtained with the traditional method based on the length of the flight path.
Key words:    algorithms    calculations    cost function    efficiency    estimation    navigation    optimization    schematic diagrams    unmanned aerial vehicles (UAV)    A * search algorithm    flight path planning    wind field   
收稿日期: 2011-09-20     修回日期:
DOI:
基金项目: 国家自然科学基金(60974146)资助
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作者简介: 屈耀红(1971-),西北工业大学副教授,主要从事无人机组合导航与定位的研究。
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