摘要
UAV智能导航是指在复杂动态环境下,UAV能够通过对周围环境的感知自主进行智能路径优化,减小轨迹中的误差安全到达目的地,同时尽量降低代价。智能导航需要解决自身定位、环境态势感知、导航方式决策、智能管理以及航路引导决策等关键技术,确保能够具有实时可靠的位置、速度、姿态等导航信息以及安全的路径。本文将智能Agent引入到导航系统中,建立了基于Agent的智能导航决策方法,给出了智能导航系统的组成、功能等。在此基础上,提出了一种基于人工势场的航迹规划方法,使得UAV在任意航路点之间进行智能路径规划。
In the complex dynamic environment, the UAV can be autonomous intelligent path optimization through the perception of the surrounding environment to reduce the track error and arrive to the destination safety with a minimum cost, this is called intelligent navigation. The intelligent navigation need solve the key techniques, such as self-positioning, environment awareness, navigation decision and route guidance strategy, so as to ensure that have the real-time and reliable navigation information, including position, speed, attitude and the safety path. Firstly, the agent is brought into the navigation system and the intelligent navigation decision method based on agent is established. Then the intelligent navigation system information, including composition, function, etc. is given. Based on the above study, a kind of path planning method based on artificial potential field is presented, which can make the intelligent path planning in any route point for UAV.
出处
《现代导航》
2014年第2期79-83,共5页
Modern Navigation
关键词
AGENT
导航
无人机
Agent
Navigation, Unmanned Air Vehicle （UAV）
