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针对复杂环境中存在运动目标、移动威胁与突发威胁等多种情况,将动态流体扰动算法与滚动优化策略相结合,进行无人机(UAV)三维动态航路规划.基于移动目标运动信息与威胁运动信息引入相对初始流场,用扰动矩阵量化表示障碍物或威胁对相对初始流场的扰动影响,计算相对扰动流场,进而得到实际流场流线即无人机规划航路.充分利用实时环境信息,综合考虑未来运动态势,在有限时域内采用动态流体扰动算法规划出可选航路,然后构建目标函数,滚动优化反应系数,实现在线航路规划.仿真结果表明,该算法能较好地适用于复杂动态环境.
Aiming at the situations of moving target, moving threat and sudden threat in complex environment, the dynamic fluid disturbance algorithm and rolling optimization strategy are combined to make UAV three-dimensional dynamic route planning.Based on the moving target’s movement information and threat The motion information is introduced into the relative initial flow field, and the perturbation matrix is used to quantitatively represent the influence of obstacles or threats on the initial initial flow field. Then the relative disturbance flow field is calculated, and the actual flow field streamlines, that is, the UAV route, Information, taking into account the future trend of the movement, an optional route is constructed by using a dynamic fluid disturbance algorithm in a finite time domain, and then an objective function is constructed and the reaction coefficients are rolled to optimize the reaction coefficient for online route planning. The simulation results show that the algorithm can be applied to Complex dynamic environment.