基于改进RRT算法的预警机实时航迹规划

发布时间：2018-04-26 08:57

本文选题：实时航迹规划 + 快速扩展随机树　；参考：《计算机仿真》2016年09期

【摘要】：在预警机航迹规划优化问题的研究中,预警机在空中进行科学、精确的实时航迹规划,可提高其实战效能。由于预警系统带有复杂的飞行器动力学约束和路径约束,求解困难,且计算时效性要求高。针对预警机的作战任务要求及载机平台的技战术特性,对经典的RRT算法进行了适应性扩展,提出了一种新的实时航迹规划方法。算法中改进了节点采样方式和节点扩展方式,并采用基于Dubins路径的运动规划方法生成树节点之间的局部最优航迹,使得规划算法不仅能够充分的考虑载机平台的动力学特性,而且规划空间维度远低于常规的搜索空间,算法的时效性得到较大幅度的提升。为了适应动态、不确定的运行环境,算法还可借鉴滚动时域控制(RHC)的思想,设计了在线滚动规划求解框架。仿真结果表明,提出的算法非常符合于复杂、动态环境下的预警机实时航迹规划优化的要求。
[Abstract]:In the research of flight path planning optimization of AWACS, scientific and accurate real-time flight path planning of AWACS in the air can improve its actual combat efficiency. Because the early warning system has complex dynamic constraints and path constraints, it is difficult to solve, and the calculation time requirement is high. According to the operational task requirements of AWACS and the technical and tactical characteristics of the aircraft platform, the classical RRT algorithm is extended adaptively, and a new real-time route planning method is proposed. In the algorithm, the node sampling method and the node expansion method are improved, and the motion planning method based on Dubins path is used to generate the local optimal track between tree nodes, which makes the planning algorithm not only fully consider the dynamic characteristics of the platform. Moreover, the dimension of planning space is much lower than the conventional search space, and the timeliness of the algorithm is greatly improved. In order to adapt to the dynamic and uncertain running environment, the algorithm can also draw lessons from the idea of rolling time domain control (RHC), and design an on-line rolling planning solution framework. The simulation results show that the proposed algorithm meets the requirements of real-time track planning optimization of AWACS in complex and dynamic environment.
【作者单位】：国防科学技术大学机电工程与自动化学院;
【分类号】：V271.47

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