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由于现有无人机协同航迹规划主要局限于固定目标,提出了一种面向地面运动目标的无人机协同航迹规划方法.给出面向地面运动目标的无人机协同航迹规划总体方案;采用按时间推进的自规划与同步规划交替进行的协同规划机制,满足协同信息交互存在时间间隔的约束;在规划中将无人机运动与地面目标运动结合并构造适合于地面运动目标的启发函数,利用启发式搜索算法快速生成航迹段;采用分布计算协同变量的方法降低了协同计算量.仿真结果表明该方法可以使无人机通过信息交互和自主分布计算快速生成面向地面运动目标的三维协同航迹,且满足规划的实时性要求.
Because the existing UAV cooperative trajectory planning is mainly confined to a fixed target, a method of UAV cooperative trajectory planning for ground moving targets is proposed. The overall scheme of UAV cooperative trajectory planning for ground moving targets is given ; The coordinated planning mechanism alternated between time-driven self-planning and synchronous planning to meet the constraints of the time interval for the interaction of collaborative information; the combination of UAV and ground-based movement in planning and the construction of a suitable ground motion target Function to generate track segments rapidly using heuristic search algorithm.The collaborative variables are used to reduce the amount of collaborative computation.The simulation results show that this method can make UAV quickly generate ground-oriented moving targets through information interaction and autonomous distribution calculation Three-dimensional collaborative track, and to meet the real-time planning requirements.