一种无人机路径规划算法研究

指出了飞行器航迹规划与路径规划的区别；提出了一种给定威胁分布下的无人机路径规划算法。根据威胁分布情况构造无人机可能飞行的航路集，用voronoi图表示出来，采用Dijkstra算法搜索威胁分布图，求解粗略最短路径。在粗略最短路径的基础上，应用三次样条曲线和序列二次规划的方法求解最优路径。用Matlab进行仿真验证，证明了算法的有效性。

Study on a Kind of Path Planning Algorithm for UAV

The difference between flight path planning and trajectory planning is presented, and a path planning scheme for UAV is developed. Constructing and searching a voronoi diagram based on the locations of the threats, an initial reference threat-avoiding flight path to the target is generated. This initial reference path cannot be followed by the UAV. In this paper, cubic spline theory and sequential quadratic programming are used for optimizing the initial reference path. The optimized path is flyable to the UAV. The Matlab simulation result demonstrates the path planning algorithm is effective.