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Received:April 19, 2014 Revised:June 03, 2014
Received:April 19, 2014 Revised:June 03, 2014
中文摘要: 针对无人机的三维航迹规划问题, 提出了一种基于几何法的航迹规划算法.通过对无人机飞行航迹的分析, 将无人机航迹看作是由一系列直线、圆弧和螺旋线的有序组成.研究了无人机最大过载系数、最大平飞速度、升限等性能与航迹可行性的关系, 得出生成最优航迹的限定条件.讨论了几何法无人机航迹规划的步骤.按照几何原理对无人机航迹进行了规划, 将无人战斗机的机动性能在航迹中充分体现出来.计算机仿真结果表明用几何法规划的航迹具有较好的适用性.
Abstract:In order to plan trajectory of unmanned aerial vehicles (UAV) in three dimensions, an algorithm based on geometric method is advanced. The path of UAV is analyzed, which could be composed by a set of lines, arcs and helixes. The relationship between path feasibility and the max over loading coefficient, velocity and height limitation of UAV is researched. And the restrict condition of optimal path is founded. The geometric method steps of programming UAV path are discussed. The path is designed by geometric method, in which UAVs flexibility is embodiment. The formulation results exhibit that paths designed by geometric method are well applicability.
keywords: UAV path planning geometric method waypoint
文章编号： 中图分类号： 文献标志码：
基金项目:
| Author Name | Affiliation |
| CHANG Bo | Naval Air Academy, Huludao 125001, China |
| WANG Rui | Naval Air Academy, Huludao 125001, China |
| Author Name | Affiliation |
| CHANG Bo | Naval Air Academy, Huludao 125001, China |
| WANG Rui | Naval Air Academy, Huludao 125001, China |
引用文本：
常波,王瑞.基于几何法的无人机航迹规划.计算机系统应用,2015,24(1):109-113
CHANG Bo,WANG Rui.Path Planning Based on Geometric Method for Unmanned Aerial Vehicles.COMPUTER SYSTEMS APPLICATIONS,2015,24(1):109-113
常波,王瑞.基于几何法的无人机航迹规划.计算机系统应用,2015,24(1):109-113
CHANG Bo,WANG Rui.Path Planning Based on Geometric Method for Unmanned Aerial Vehicles.COMPUTER SYSTEMS APPLICATIONS,2015,24(1):109-113
