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基于数字地形平滑和人工势场的无人机近地三维路径规划

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根据无人机在地形跟随和地形规避任务中的特殊要求,提出了一种基于数字地形平滑技术的无人机三维飞行路径规划新方法.该方法包括以下2 个步骤:第1 步是通过访问SRTM数字地形模型,并设置安全高度、减少坡度和曲率等参数,对数字地形进行平滑处理,生成一个安全的飞行表面.第2 步在所获得的安全飞行表面的基础上,考虑了无人机的机动约束和威胁指标,设计了一种改进的向量场方法来搜索从给定起点到指定目的地的最优飞行路径.利用所设计三维路径规划仿真程序进行了仿真试验,仿真结果表明,所设计的路径规划方法可以在避开威胁源的情况下获得最佳的3D飞行路径,具有良好的可行性和有效性.
A 3D path planning method of near ground UAV based on digital terrain smoothing and artificial potential field
According to the special requirements of a UAV in the terrain following and avoidance missions,a new 3D flight path planning method based on the digital terrain smoothing technique is presented.The devised method has two steps:1)the first step is to access the SRTM digital terrain model and smooth it by setting safe altitude,reducing slopes and curvatures,so that a safe flight surface is generated;2)in the second step,an improved vector field method is designed to search the optimal flight path from a given starting point to a specified destination on the basis of the obtained safe flight surface,taking into account the maneuver constraints and threat indicators of the UAV.Simulation experiments were conducted using the designed 3D path planning simulation program,and the simulation results show that the designed path planning method can obtain the best 3D flight path while avoiding threat sources with good feasibility and effectiveness.

near ground flightSRTM digital terrainartificial potential field method3D path planning

朱熠、田辉、郝向宇、史涵意、马文峰、王聪

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陆军工程大学野战工程学院,南京 210007

近地飞行 SRTM数字地形 人工势场法 三维路径规划

国家自然科学基金青年项目

62103441

2024

兵器装备工程学报
重庆市(四川省)兵工学会 重庆理工大学

兵器装备工程学报

CSTPCD北大核心
影响因子:0.478
ISSN:2096-2304
年,卷(期):2024.45(1)
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