一种可实现TF/TA2的无人飞行器三维航迹规划方法

从规划空间的有效表达着手对无人飞行器三维航迹规划展开研究,基于地形和威胁提出的飞行器航迹规划方法将航迹规划分为学习阶段和查询阶段,环境信息和飞行器的大部分约束条件结合在路线图的构造过程中,航迹搜索在此路线图中进行并最终实现全部约束条件.试验结果显示,该方法可以实时获得实现TF/TA2的三维航迹.

A 3D route planning method of UAV to realize TF/TA2

The 3D route planning problem of UAV(unmanned aerial vehicle) is studied by efficient modeling of operation space. TTB_PRM(terrain and threat based probabilistic roadmap) method, a novel route planning method based on terrains and threats is proposed. The route planning process is split into two phases: the learning phase and query phase by this new route planning method. Different kinds of environmental information and most mission constraints are integrated into the process of constructing roadmap, and this roadmap can be used to find routes between different pairs of nodes, which ultimately meets all constraints. Experimental results show that 3D route planning of TF/TA~(2)(terrain following, terrain avoiding and threat avoiding) of UAV can be realized by the new method.