摘要
航迹规划是提高飞行器应用效能,降低任务代价的重要手段。通常由于条件复杂,计算量大,要得到最优航迹是非常困难的。研究提出一种求解最优航迹的途径,就是基于MILP方法建立飞行器的运动模型、障碍模型及目标函数,然后利用成熟的工具软件进行求解,得到满足多组约束条件的最优解向量,即是最优航迹。实验表明这种方法能够得到符合规划意图的结果。针对规划给出的航迹在多边形障碍的顶点处可能发生穿越的问题,研究给出了补偿方法。
Aircraft trajectory planning is an important means to improve the efficiency of aircrafts and reduce the cost of missions. It is usually very difficult to get the optimal trajectory because of the complexity of conditions and the amount of calculations. This article introduces an approach to solve the problem of getting optimal trajectory, which is based on MILP, modeling the motion of aircraft and the position of ob- stacles, and setting the objective function, resolving the problem with mature software tools, then getting the optimal solution vector satisfying the set of constraints, which is the optimal trajectory in the end. The experiments indicate that this method can lead to the result in accordance with the planning intention. An approach is offered to make up for the defect that the generated trajectory sometimes traverses polygon obstacles near vertices.
出处
《中国电子科学研究院学报》
北大核心
2015年第2期150-155,共6页
Journal of China Academy of Electronics and Information Technology
