无人机协同路径规划三维实时可视化仿真平台

发布时间：2018-05-20 03:00

本文选题：无人机 + 路径规划　；参考：《南京理工大学》2017年硕士论文

【摘要】：近年来,随着无人机技术的飞速发展,无人机已经广泛应用于军事和民用领域。无人机应用场景环境的逐渐复杂使得无人机路径规划显得愈发重要,而在大范围的应用场景中则还需要多架次无人机进行协同路径规划。对于无人机协同路径规划算法的研究非常多,并且也取得了显著的成果,而对于协同路径规划结果验证的研究则还比较欠缺。采用真实无人机对航线进行验证则存在成本高、风险大等问题,传统的基于图表、曲线的二维航迹仿真系统也无法满足飞速发展的无人机应用需求。论文以某无人机侦察系统总体方案论证为需求背景,针对当前无人机路径规划研究在规划结果仿真验证和三维可视化方面的不足,研究和实现了一种无人机协同路径规划三维实时可视化仿真平台。构建了三维地形仿真环境并且对目标区域地形进行网格划分和面积计算;采用虚拟相机对无人机载荷侦照波束进行建模,基于图形硬件实现侦照波束与三维地形的快速求交;基于多边形填充算法查找被侦照地形范围,并且记录和统计地形被侦照的相关信息;最后通过色温图的方式直观地展示无人机在指定航线下对地形的侦照分布情况。通过仿真平台的实际运行,证明该仿真平台为传统协同路径规划提供了一种实用的三维可视化仿真验证手段。
[Abstract]:In recent years, with the rapid development of UAV technology, UAV has been widely used in military and civilian fields. UAV path planning is becoming more and more important due to the complexity of UAV application environment, and collaborative path planning of UAV is also needed in a wide range of application scenarios. There are many researches on collaborative path planning algorithms for UAVs, and remarkable results have been achieved, but the research on the verification of collaborative path planning results is still lacking. Using real UAV to verify the route has many problems, such as high cost and high risk. The traditional two-dimensional track simulation system based on charts and curves can not meet the requirements of the rapid development of UAV applications. Based on the demonstration of the overall scheme of a UAV reconnaissance system, this paper aims at the deficiency of the current UAV path planning research in the planning results simulation verification and 3D visualization. A three-dimensional real-time visual simulation platform for cooperative path planning of UAV is studied and implemented. The 3D terrain simulation environment is constructed, the terrain of the target area is divided and the area is calculated, the virtual camera is used to model the payload beam of UAV, and the fast intersection between the beam and 3D terrain is realized based on the graphic hardware. Based on the polygon filling algorithm, the range of the detected terrain is found, and the relevant information of the detected terrain is recorded and counted. Finally, the aerial vehicle's illumination distribution of the terrain under the specified route is visually displayed by the way of color temperature map. Through the actual operation of the simulation platform, it is proved that the simulation platform provides a practical 3D visual simulation verification method for the traditional collaborative path planning.
【学位授予单位】：南京理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：V279

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