基于VORONOI图的无人机航迹规划

无人机的航迹规划对发挥无人机的自主飞行和执行任务中起着至关重要的作用。在分析VORONOI图的性质基础上,以无人机仿真环境中作战想定与任务规划成员为背景研究基于VORONOI图的航迹规划技术。重点讨论了如何根据威胁分布的VORONOI图建模,计算航路代价,航迹搜索和航迹优化。最后总结了算法的优缺点,提出算法的改进新方法。

VORONOI Diagram-based Path Planning for UAVs

Path Planning for uninhabited air vehicles (UAVs) plays important roles in autonomous flight and completing mission. On the basis of analyzing characters of VORONOI diagram, VORONOI diagram-based path planning arithmetic was researched in the background of Scenario and Mission Planning Federate in UAVS Simulation Federation. How to build VORONOI diagram based on threaten locations, compute costs of flight routes, choose preliminary path and optimize path were discussed importantly. Last, the advantages and disadvantages of the arithmetic were summarized and the improvement approach was proposed.