无人机在高原山地环境下航摄轨迹的规划

在高原、山地地形起伏较大的环境下,无人机对点状、线状、面状多个目标拍摄时的轨迹需要进行最优化规划。总体航迹规划分为两个阶段:全局规划阶段,即对多个目标进行全局最短路线规划;局部规划阶段,即为躲避地形威胁,对最短路线中,目标点之间不符合要求的路线进行重规划,最终得到最优的路线轨迹。分别采用蚁群算法和A*算法进行全局规划和局部规划,仿真结果表明了本文轨迹规划方法的有效性及高效性。

Trajectory Planning of UAV in Plateaus,Mountainous Environment

The trajectory of UAV must be planned when UAV is about to shooting the punctate,linear,planar multi-ple targets in the undulating environment such as plateau and mountainous terrain. Overall trajectory planning is divided into two phases:global planning stages,namely to plan global shortest route for multiple targets;local planning stages,re-planning the route between the destination points which do not meet the requirements in order to avoid the terrain threat,and ultimately get the best route trajectory. Ant colony algorithm and A?algorithm were used in global planning and local planning. The results of the simulation show the effectiveness and efficiency of the trajectory planning method.