摘要
航迹光顺是保证无人机航迹规划可飞性的关键。给出了基于V图的规划空间生成策略,运用动态规划法,获得了初始最优航迹;研究分析了CS曲线的变化特性,提出了一种基于CS曲线的航迹光顺算法;通过引入无人机飞行性能约束到CS曲线,建立基于CS曲线的最优航迹光顺模型;仿真结果表明所提航迹光顺方法既保证了航迹的可飞性,又保证了无人机的安全性。
The path fairing technology will ensure a flyable path for UAVs.Firstly,planning space was given by using Voronoi graph and the dynamic programming search algorithm was used to get an initial path;Secondly,the properties of CS curve were studied,based on which,a path fairing method was put forward;Thirdly,through combining the flying constraints into CS curve,the optimal path faring model was built based on CS curve;Lastly,the simulation was presented and the results show that the path faring algorithm can not only ensure the path is flyable,but also ensure UAVs＇ safety.
出处
《弹箭与制导学报》
CSCD
北大核心
2012年第2期11-14,共4页
Journal of Projectiles,Rockets,Missiles and Guidance
基金
航空科学基金(20085196011)资助
关键词
航迹光顺
动态规划
航迹规划
CS曲线
path fairing
dynamic programming
flight path planning
CS curve
