基于行为反应控制的UCAV自主航路规划研究

无人作战飞机（UCAV）自主航路规划整个过程是动态、实时、局部的,环境信息是不确定的,其研究的主要目标不同于一般航路规划,不仅要使无人作战飞机获得优化的航路,更重要的是让其具备自主寻求最优航路的能力。文章从混合主动控制的观点出发,设计了一种基于行为反应控制的自主寻优方法。采用分级组合的方法建立了航路规划模型,底层将任务目标作为李雅普诺夫行为控制函数,建立了航路优先级模型,上层利用多目标决策算法进行自主航路选择。并利用突发局部威胁进行了仿真实验,结果表明了系统设计的合理性和有效性。

Study on UCAV autonomous path planning based on behavior reactive control

The process of UCAV autonomous path planning is dynamic,Real-time and brush-fire and its environment is uncertain.The target of research is different from that of static path planning,which is not only to obtain the optimized path,but also to make the UCAV can obtain the optimized path autonomously.In the paper from a mixed initiative point of view,a way of autonomous search for path priority based on behavior reactive control is designed.A path planning model is built in the method of hierarchical combination.It is take task target as behavior control Lyapunov functions in the bottom layer,so path planning priority model can be built.Autonomous path selection is achieved in the high layer, by using the algorithm of multi-target decision.Finally the algorithm is implemented with computer simulation using gusty threaten,and preferable results are obtained.