基于区域分割的无人机路径规划

研究无人机路径规划优化问题,针对在城市环境下执行飞行任务前,需要根据所经城市内已知的建筑物信息以及飞机本身性能的限制计算出飞行轨迹,并根据规划出的路径完成飞行任务。在给定起始点和目标点上,提出了一种城市建筑物遮挡模型的无人机路径规划方法。主要包含两方面的内容:一是利用圆柱虚拟城市建筑物环境使建筑物对无人机的遮挡面积可计算;二是在计算出无人机飞行的水平平面上(x,y)点遮挡值的基础上,给出了无人机搜索区域等分的沿对角线折线走法的优化路径规划,得到一条遮挡面积最小的路径并进行仿真。仿真结果表明,规划方法能够快速有效地完成规划任务,获得满意的航迹,为无人机优化路径提供了依据。

Region Segmentation of UAV Path Planning

The path of unmanned aerial vehicles should be calculated according to the building known by the city itself as well as flight capability of itself before executing mission and accomplish the mission by tracking the path.This paper represented a method of path planning of UAV based on Block model of urban buildings at the given starting point and destination point.The proposed algorithm mainly contains two parts,first the algorithm simulated the buildings in urban environment with cylinders,and second,after calculating the curved surface of UAV’s flight plane,this algorithm proposed an optimal path planning method of UAV.The path is a polygonal line along the equant diagonal line on the searching area of UAV,getting the smallest shading area of this path and simulated.The experiment results demonstrate that this method can complete planning mission efficiently,obtain a desirable route,and have important practical significance.