|
|
论文:2014,Vol:32,Issue(5):688-692 |
|
|
引用本文： |
|
|
谭雁英, 胡淼, 祝小平, 周洲. 基于人机合作策略下SAS算法的多无人机路径再规划[J]. 西北工业大学 |
|
|
Tan Yanying, Hu Miao, Zhu Xiaoping, Zhou Zhou. Path Replanning Approach for Multiple UAVs Based on SAS(Sparse A * Search) Algorithm under Human Automation Collaboration[J]. Northwestern polytechnical university |
|
|
|
|
|
|
|
| 基于人机合作策略下SAS算法的多无人机路径再规划 |
|
| 谭雁英, 胡淼, 祝小平, 周洲 |
|
1.西北工业人学无人机所, 陕西 西安 710065;
2.西北工业人学无人机特种技术重点实验室, 陕西 西安 710065 |
| 摘要: |
| 针对复杂多变的战场环境中多无人机路径再规划，给出了一种人机合作策略下的改进稀疏A *算法。提出在局部路径再规划动态窗口内人工干预给出必经子目标点，再通过 SAS 算法自动规划出路径的人机交互策略;采用路径再规划约束条件对生成的路径节点进行了合并处理。仿真实验表明，上述改进的SAS 算法，有效约束了SAS 算法可行解空间，降低了算法的计算量，并且减少了生成路径点的个数，缩短了数据传输时间，获得了多无人机规避突发威胁/危险、 避碰的令人主观满意的再规划路径。 |
| 关键词:
稀疏A*算法
人机合作
路径再规划
多无人机
突发威胁
|
|
| Path Replanning Approach for Multiple UAVs Based on SAS(Sparse A * Search) Algorithm under Human Automation Collaboration |
|
| Tan Yanying, Hu Miao, Zhu Xiaoping, Zhou Zhou |
|
1. UAV Research Institute, Northwesern Polytechnical Univrsity, Xi'an 710065, China;
2. Science and Technology on UAV Laboratory, Northwestern Polytechnic University, Xi'an 710065, China |
| Abstract: |
| An improved path replanning sparse A* search algorithm based on the strategy of humanautomation col-laboration is proposed for multiple UAVs under complex and dynamic war environment.The proposed strategy isthat the sub}oal waypoints can be inserted manually in the dynamic path replanning window through human-auto-mation collaboration with the A* algorithm executing automatically.The replanning waypoints are processed furtherand merged.Simulation experimental results and their analysis show preliminarily that the above method can obtainan subjectively satisfactory result rapidly satisfying the requirements of popup-threat avoidance,collision avoidanceamong multiple paths,reducing search space and computation time,and making the number of replanned waypointssmaller and transmission time shorter. |
| Key words:
improved SAS (Sparse A * Search) algorithm
multiple unmanned aerial vehicles(UAVs)
human-automation collaboration
path planning
popup threats
|
|
| 收稿日期: 2014-03-18
修回日期:
|
| DOI: |
| 基金项目: 上下标 |
| 通讯作者:
Email： |
| 作者简介: 谭雁英(1967-)，女，西北工业人学研究员、博士，主要从事无人机自主飞行智能管理、任务规划及组合导航控制研究。
|
|
| 相关功能 |
|
|
|
|
| 作者相关文章 |
|
| 谭雁英 在本刊中的所有文章 |
| 胡淼 在本刊中的所有文章 |
| 祝小平 在本刊中的所有文章 |
| 周洲 在本刊中的所有文章 |
|
|
|
|
|
|
|
|
参考文献: |
|
|
[1] Dong Zhouning，Chen Zongji，Zhou Rui，et al.A Hybrid Approach of Virtual Force and A* Search Algorithm for UAV PathRe-Planning[C]∥Proc of IEEE Conference on Industurial Electronics and Applications，2011: 1140-1145
[2] Nathan D R，Manu S，David G W.A Hybrid A* /Automation Approach to On-Line Path Planning with Obstacle Avoidance[C]∥Proc of AIAA 1sh Intelligent Systems Technical Conference，Chicago，2004: 1-17
[3] 郗永军，周德云.多无人机协同攻击路径规划研究[J].计算机仿真，2010，27(3):69-72Xi Yongjun，Zhou Deyun.Trajectory Planning for Coordinated Attack with Multiple Uninhabited Air Vehicles[J].ComputerSimulation，2010，27(3): 69-72 (in Chinese)
[4] 马培军，毛云云，张洪涛，等.基于3DSAS 的多约束多航迹协同规划与搜索方法[J].系统工程与电子技术，2011，33(7):1527-1533Ma Peijun，Mao Yunyun，Zhang Hongtao，et al.Cooperative Planning for Multiple Trajectories with Multiple Constraints Basedon 3DSAS.Systems Engineering and Electronics，2011，33(7): 1527-1533 (in Chinese)
[5] Hwang J H，Arkin R，Kwon D S.Mobile Robots at Your Fingertip: Bezier Curve On-Line Trajectory Generation for SupervisoryControl[J].Proceedings of the IEEE/ RSJ International Conference on Intelligent Robots and Systems，Las Vegas，Nevada，USA，2003
[6] Carrigan G.The Design of an Intelligent Decision Support Tool for Submarine Commander[D].Massachusetts Institute of TechnologyEngineering Systems Division，2009
[7] 杨鑫.海上无人飞行器航路规划与多任务分配方法研究[D].武汉:华中科技大学，2009Yang Xin.Research on Route Planning and Multiple Mission Allocating for On-Ship UAVS[D].Wuhan，Huazhong Universityof Science and Technology，2009 (in Chinese) |
|
|
|
|
|
|
|
