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论文:2012,Vol:30,Issue(4):576-581 |
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引用本文： |
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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 |
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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 |
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| 基于风场信息的无人机在线航迹规划方法 |
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| 屈耀红, 肖自兵, 袁冬莉 |
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| 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
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| An Effective Method of UAV Flight Path Planning On-Line in Wind Field Using Improved A * Searching Algorithm |
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| Qu Yaohong, Xiao Zibing, Yuan Dongli |
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| 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
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| 收稿日期: 2011-09-20
修回日期:
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| DOI: |
| 基金项目: 国家自然科学基金(60974146)资助 |
| 通讯作者:
Email： |
| 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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参考文献: |
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[1] 张振理，王英勋. 基于 CHC 算法的无人机航迹规划方法. 北京航空航天大学学报, 2007, 33(6): 690-693Zhang Zhenli，Wang Yingxun. Path Planning Method of UAV Based on CHC Algorithm. Journal of Beijing University of Aero-nautics and Astronautics, 2007, 33(6): 690-693 (in Chinese)
[2] 黄国荣，张吉广，刘华伟. 基于自适应变异粒子群算法的无人机航迹规划. 电光与控制, 2009, 16(4): 18-21Huang Guorong，Zhang Jiguang，Liu Huawei. Route Planning for Unmanned Aerial Vehicles Based on Adaptive Mutation Parti-cle Swarm Optimization. Electronics Optics & Control, 2009, 16(4): 18-21 (in Chinese)
[3] 苏 菲，彭 辉，沈林成. 基于协进化多子群蚁群算法的多无人作战飞机协同航迹规划研究. 兵工学报，2009, 30(11): 1562-1568Su Fei，Peng Hui，Shen Lincheng. Research on Multi-UCAV Cooperative Route Planning Based on Coevolutionary Multi-Ant-Colony Algorithm. Acta Armamentarii, 2009, 30(11): 1562-1568 (in Chinese)
[4] Nicola Ceccarelli，John J Enright，Emilio Frazzoli，et al. Micro UAV Path Planning for Reconnaissance in Wind. Proceedingsof the 2007 American Control Conference, 2007: 5310-5315
[5] McGee Timothy G，Spry Stephen，Hedrick J Karl. Optimal Path Planning in a Constant Wind with a Bounded Turning Rate．2005 AIAA Conference on Guidance，Navigation，and Control, 2005, 1-11
[6] 李 季，孙秀霞. 基于改进 A-Star 算法的无人机航迹规划算法研究. 兵工学报, 2008, 29(7): 788-792Li Ji, Sun Xiuxia. A Route Planning' s Method for Unmanned Aerial Vehicles Based on Improved A-Star Algorithm. Acta Arma-mentarii, 2008, 29(7): 788-792 (in Chinese)[7] Etkin B. Turbulent Wind and Its Effect on Flight. Journal of Aircraft (S0021-8669), 1984, 21(3): 175-182
[8] 屈耀红，凌 琼. 无人机 DR/GPS/RP 导航中风场估计仿真. 系统仿真学报, 2009, 21(7): 1822-1825Qu Yaohong，Ling Qiong. Wind Field Estimation Simulation Technology in DR/GPS/RP Integrated Navigation of UAV. Journalof System Simulation, 2009, 21(7): 1822-1825 (in Chinese) |
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