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针对高原地区复杂地形地貌,提出了无人机需具备在线航路规划能力;分析了快速随机搜索树(RRT)算法的基本原理,并对RRT算法的收敛性和参数选择进行了探讨,设计了基于RRT算法的在线航路规划方法;对所设计的方法进行仿真验证。仿真结果表明:该航路在线规划方法达到了预期目的,能够很好的规避突发障碍。
In view of the complex topography in the plateau area, the paper proposes the UAV to have the ability of planning on-line routes. The basic principle of the RRT algorithm is analyzed. The convergence and parameter selection of the RRT algorithm are also discussed. RRT algorithm online route planning method; simulation of the design method. The simulation results show that the on-line planning method of the route has achieved its intended purpose and can well avoid sudden obstacles.