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针对无人驾驶飞机航路规划问题,基于对距离变换路径规划方法的扩展,提出了基于代价传播的距离变换(CDT)方法。该方法将敌方威胁的影响作为传播代价集成到距离变换过程中,规划时可以在距离代价和风险代价之间进行折衷,根据计划确定的作战要求,规划出合理的最优航路,仿真实验结果验证了该方法的有效性。
Aiming at the problem of UAV route planning, based on the extension of distance transform path planning method, a CDT method based on cost propagation is proposed. The method integrates the influence of enemy threat as the propagation cost into the distance transformation process. When planning, it can trade off between the distance cost and the risk cost. According to the planned operational requirements, the reasonable optimal route is planned and the experimental results are simulated The validity of this method is verified.