多旋翼无人机航迹规划与监控研究

发布时间：2019-06-03 21:07

【摘要】：多旋翼无人机具有可垂直起降、机动性强、结构简单、成本较低、安全性高等优点,在军事侦察、气象勘测、抢险救灾、管道探测等方面具有重大的实用价值和广阔的发展前景。本文就航迹规划与监控系统中关键的问题开展深入的研究,目标是开发一套具备航迹规划、视景显示和状态监测功能的地面监控系统。借鉴国内外知名的研究成果,并结合主流的技术,确定了研究思路：首先利用地形模拟和威胁建模的方法构建飞行环境,并在此基础之上,分别利用稀疏A*算法和基于正交策略的粒子群算法对多旋翼无人机的航迹进行规划,最后,模块化设计地面监控系统。在航迹规划方面,将飞行约束和环境威胁因素纳入搜索策略中,有效地裁剪搜索空间,给出了一种适用于三维航迹规划的稀疏A*算法。在合理设计代价函数之后,给出了基于稀疏A*算法的三维航迹规划的仿真结果。在分析比较了全局版本和局部版本的粒子群算法之后,给出了一种用正交试验提高算法稳定性和收敛速度的改进策略。同样地,仿真实现了基于正交策略的粒子群算法的三维航迹规划。在软件设计方面,为提高系统的灵活性与兼容性,采用模块化的设计思想搭建了基于MFC的地面监控界面。地面监控界面中设计了通信控制模块、数据显示模块、命令控制模块、数据保存模块和航迹规划模块。航迹规划模块采用Google map API实现地图定位,并将运行于MATLAB的规划算法封装成COM组件加载到航迹规划模块中。3D视景显示模块采用UDP通信实现FlightGear与地面监控界面的数据交互。经过测试,软件能够实现航迹规划、视景显示、状态监控的功能。
[Abstract]:Multi-rotor UAV has the advantages of vertical take-off and landing, strong maneuverability, simple structure, low cost and high security, etc., in military reconnaissance, meteorological survey, emergency and disaster relief. Pipeline detection has great practical value and broad development prospect. In this paper, the key problems in track planning and monitoring system are deeply studied, and the goal is to develop a set of ground monitoring system with track planning, visual display and condition monitoring functions. Drawing lessons from the well-known research results at home and abroad, combined with the mainstream technology, the research ideas are determined: firstly, the flight environment is constructed by using the methods of terrain simulation and threat modeling, and on this basis, Sparse A* algorithm and particle swarm optimization algorithm based on orthogonal strategy are used to plan the track of multi-rotor UAV respectively. finally, the ground monitoring system is designed by modularization. In the aspect of track planning, flight constraints and environmental threat factors are brought into the search strategy, and the search space is effectively clipped, and a sparse A * algorithm suitable for 3D track planning is proposed. After reasonably designing the cost function, the simulation results of 3D track planning based on sparse A * algorithm are given. After analyzing and comparing the global version and the local version of particle swarm optimization algorithm, an improved strategy to improve the stability and convergence speed of the algorithm by orthogonal experiment is proposed. Similarly, the 3D track planning of particle swarm optimization algorithm based on orthogonal strategy is realized by simulation. In the aspect of software design, in order to improve the flexibility and compatibility of the system, a ground monitoring interface based on MFC is built by using modular design idea. The communication control module, data display module, command control module, data saving module and track planning module are designed in the ground monitoring interface. The track planning module uses Google map API to realize map location, and encapsulates the planning algorithm running on MATLAB into COM component and loads it into the track planning module. 3D visual display module uses UDP communication to realize the data interaction between FlightGear and ground monitoring interface. After testing, the software can realize the functions of track planning, visual display and state monitoring.
【学位授予单位】：东南大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：V279;TP18

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