基于城市模型的微型飞行器三维路径规划

针对城市的三维环境,提出了微型飞行器(M AV)的路径和航迹优化设计算法。该算法把M AV的能量损耗(路径长度和路径高度变化)和风险度(威胁点对微型飞行器的威胁程度)作为路径的优化指标,用D e launay图生成路径网络的“节点”,采用D ijsk tra算法进行寻优,设计出符合指标要求的三维最优路径。将设计得到的折线路径进行圆滑处理,以得到飞行器的航迹。最后给出了仿真实例,生成的航迹成功避开建筑物和威胁点,并符合M AV的运动学要求。

3-D path planning for MAVs in urban environments

An optimal autonomous path planning method was presented for micro air vehicles(MAVs) in a three-dimensional urban environment.A waypoint candidate net was formed using the Delaunay graphic to minimize the fuel usage(the length and altitude of the path) and the risk(the MAV loss probability) with an optimal 3-D path determined using Dijsktra arithmetic.The MAV trajectory was designed by smoothing the path according to the kinematics constraints of the MAV.A simulated mission scenario shows how the MAV successfully avoids colliding with buildings and other threatening objects.