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为解决无人飞行器的航迹规划问题,提出一种基于加权Voronoi图的航迹规划方法。该方法首先对规划空间内的雷达侦察区和山峰等威胁区域进行预处理,提出将不规则的威胁区域拟合成由相交圆包围的区域,有效地解决了传统方法在拟合不规则区域时造成的威胁区域扩大问题;建立了基于警戒半径的航迹代价模型,使得规划出的航迹更安全;采用了加权Voronoi图法对规划空间进行航迹规划;初步实现了飞行器航迹的可视分析。仿真结果表明,相比传统Voronoi图法,所述方法能够计算出一条相对更安全且长度较短的航迹,可视分析手段的加入,为指挥员实现对航迹的分析与决策提供交互手段。
To solve the trajectory planning problem of UAVs, a trajectory planning method based on weighted Voronoi diagrams is proposed. The method firstly pretreats the threat area such as radar reconnaissance area and mountain peak in the planning space, and proposes to fit the irregular threat area into the area surrounded by the intersecting circle, which effectively solves the problem that when the traditional method fits the irregular area The model of track cost based on warning radius is established, which makes the planned track safer. The weighted Voronoi diagram method is used to track planning in planning space. The visualization of flight path of aircraft is preliminarily realized analysis. The simulation results show that compared with the traditional Voronoi diagram method, the method can calculate a relatively safer and shorter length of track, the addition of visual analysis means to provide commander with interactive means to track analysis and decision making .