无人机航路规划评估及修正方法研究

发布时间：2018-05-25 05:39

  本文选题：无人机 + 航路规划　； 参考：《哈尔滨工业大学》2016年硕士论文

【摘要】：任务规划系统(Mission Plan System)是无人机(Unmanned Aerial Vehicle,UAV)相关应用技术的一个重要内容,它为无人机分配任务,指引无人机的行动方向。在近年来局部战争中作用发挥明显,世界各国在军事应用中都在广泛关注无人机。无人机航路规划(Path Planning)技术是任务规划系统的重要组成部分,是无人机实现智能导航和安全顺利完成任务的技术保障。研究无人机航路规划问题的本质就是研究多约束条件下,求解多目标函数极值的问题。规划出导航准确性高、安全性高、适应任务需求的最优或次优航路,对提高无人机系统作战效能有重要意义。论文主要是针对当前无人机飞行训练、执行作战任务时,离线航路规划缺乏评估,航路实用性不强,在线航路规划修正不及时,无人机飞行安全系数低的现状,进行无人机航路规划评估及修正方法研究。论文分析了无人机的物理特性约束建立了无人机航路规划数学模型,分析了无人机的飞行环境约束建立了环境模型,分析了无人机飞行航路潜在的威胁源建立了航路规划威胁源模型。论文概括和总结了无人机航路规划问题,分析了几种比较典型的规划算法,对静态离线无人机航路规划评估算法进行了探讨,主要研究基于毁伤概率密度的无人机航路突防算法,飞行约束评估算法。运用A*算法和B样条曲线拟合方法对无人机航路进行在线修正,设定了仿真环境,基于五个方面考虑对无人机航路修正进行仿真,一是考虑无人机探测半径的航迹修正,二是包含不规则障碍物的航迹修正,三是考虑突发情况的航迹修正,四是考虑目标位置改变的航迹修正,五是考虑目标变异的航迹修正,仿真结果表明,每种考虑情况的航向角控制量都能满足的最大转弯角速率要求,所生成的平滑航迹有效且满足要求。本文以某型小型战术无人机的训练为背景,开展无人机航路规划评估及修正方法研究,设计并实现了某型小型战术无人机离线航路规划评估软件。软件重点对无人机航路数据管理功能、无人机航路评估功能、无人机航路及评估结果显示功能、飞行地图操作功能、无人机航路再规划(即优化调整)功能和态势标绘功能进行了测试,测试结果表明该软件人机交互功能良好,能够满足航路规划的实际应用需求。
[Abstract]:Mission Plan system is an important part of Unmanned Aerial vehicle UAV (UAV) related application technology. It assigns tasks to UAV and directs the operational direction of UAV. In recent years, local wars play a significant role in the world in military applications are widely concerned about unmanned aerial vehicles (UAVs). Path planning is an important part of mission planning system, and it is the technical guarantee for UAV to realize intelligent navigation and complete tasks safely and smoothly. The essence of studying UAV route planning problem is to study the problem of solving multiobjective function extremum under multi-constraint conditions. It is of great significance to plan the optimal or suboptimal route for UAV system with high navigation accuracy, high safety and adaptability to mission requirements. This paper mainly aims at the current situation of UAV flight training, lack of evaluation of off-line route planning, lack of practical route, modification of online route planning, low flight safety factor of UAV. The evaluation and correction methods of UAV route planning are studied. In this paper, the physical characteristic constraints of UAV are analyzed, and the UAV route planning mathematical model is established, and the UAV flight environment constraint is analyzed. The potential threat sources of UAV flight path are analyzed and the model of route planning threat source is established. In this paper, the problem of UAV route planning is summarized, several typical planning algorithms are analyzed, and the evaluation algorithm of static off-line UAV route planning is discussed. This paper mainly studies the route penetration algorithm and flight constraint evaluation algorithm of UAV based on damage probability density. The method of A* algorithm and B-spline curve fitting is used to modify the UAV flight path online, and the simulation environment is set up. Based on five aspects, the UAV route correction is simulated. Firstly, the track correction considering the UAV detection radius is considered. The second is track correction including irregular obstacles, the third is track correction considering sudden events, the fourth is track correction considering the change of target position, and the other is track correction considering target variation. The simulation results show that, The maximum turning angle rate can be satisfied by the course angle control quantity in each case, and the smooth track generated is effective and meets the requirements. In this paper, based on the training of a small tactical UAV, the evaluation method of UAV route planning and modification is studied, and the off-line route planning evaluation software of a small tactical UAV is designed and implemented. The software focuses on UAV route data management function, UAV route evaluation function, UAV route and evaluation result display function, flight map operation function, The functions of UAV route replanning (i.e. optimization and adjustment) and situation plotting are tested. The test results show that the software has good man-machine interaction function and can meet the practical application requirements of route planning.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：V279
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本文编号：1932343