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借鉴滚动优化思想提出了一种滚动规划的搜索策略以实现无人机的实时航迹规划。根据机载设备的探测范围和战场信息的处理时间,定量分析了滚动规划的空间和时间约束。结合“边规划、边执行”策略提出了同步滚动的机制。基于A*算法设计了滚动规划的搜索流程,实现了全局区域的实时航迹规划。仿真结果表明,提出的规划策略有效可行,可以通过实时探测战场态势完成航迹的实时规划。
Draws on the idea of rolling optimization and proposes a rolling plan search strategy to realize the real-time flight path planning of the UAV. According to the detection range of airborne equipment and the battlefield information processing time, the space and time constraints of rolling planning are quantitatively analyzed. In combination with the “side-planning, side-by-side” strategy, a mechanism for synchronizing scrolling is proposed. Based on the A * algorithm, the search process of the rolling plan is designed and the real-time trajectory planning of the global area is realized. The simulation results show that the proposed planning strategy is effective and feasible, and real-time planning of track can be completed by detecting the battlefield situation in real time.