系统工程与电子技术 ›› 2019, Vol. 41 ›› Issue (8): 1835-1843.doi: 10.3969/j.issn.1001-506X.2019.08.22

• 制导、导航与控制 • 上一篇    下一篇

时间和角度约束下的双圆弧路径规划

杨秀霞1, 曹唯一2, 张毅1   

  1. 1. 海军航空大学探测、制导与控制教研室, 山东 烟台 264001;
    2. 海军航空大学研究生大队, 山东 烟台 264001
  • 出版日期:2019-07-25 发布日期:2019-07-25

Bi-arc path planning with time and angle constraints

YANG Xiuxia1, CAO Weiyi2, ZHANG Yi1   

  1. 1. Department of Detection, Guidance and Control Naval Aeronautical and Astronautical University, Yantai 264001, China;
    2. Graduate Students’ Brigade, Naval Aeronautical and Astronautical University, Yantai 264001, China
  • Online:2019-07-25 Published:2019-07-25

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摘要：

为满足无人飞行器(unmanned aerial vehicle, UAV)打击目标的时间、角度约束,提出了基于双圆弧轨迹的路径规划方法。对UAV初始、末端速度方向情况进行了分类,分别推导了对应的双圆弧参数解析形式及其单调性。同时,根据双圆弧参数解析式,得到生成路径的唯一自由度,减少了路径规划参数输入。分析了双圆弧路径长度与路径参数之间的关系,设计了多UAV协同攻击路径规划方案。数值仿真结果证明了双圆弧路径规划的有效性和实用性。

关键词: 无人飞行器, 双圆弧路径规划, 多无人飞行器协同, 同时到达

Abstract:

To satisfy the time and angle constraints of the unmanned aerial vehicle (UAV) in hitting target, a path planning method based on bi-arc trajectory is proposed. The initial and terminal velocity directions of UAV are classified, the corresponding analytical forms of bi-arc parameters and their monotonicity are derived respectively. Meanwhile, according to the analytic formula of bi-arc parameters, the unique degree of freedom for generating path is obtained, which reduces the input of path planning parameters. Then, the relationship between the length of bi-arc path and path parameters is analyzed, and a path planning scheme for multi-UAV cooperative attack is designed. The numerical simulation results demonstrate the effectiveness and practicability of the bi-arc path planning.

Key words: unmanned aerial vehicles (UAV), bi-arc path planning, multi-UAVs cooperation, simultaneous arrival

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