区域目标搜索中基于改善rrt 的uav 实时航迹规划.pdfVIP

31 5 JOURNAL OF NATIONAL UNIVERSITY OF DEFENSE TECHNOLOGY Vol. 31 No. 5 2009 : 1001- 2486( 2009) 05- 0086- 06 * RRT UAV 彭 辉, 王 林, 沈林成 ( , 410073) : ( Unmanned Aerial Vehicles, UAV) UAV , UAV ( RRT) , , RRT UAV , : :TP39119 : A The Modified RRT- based Real-time Route Planning for UAV Area Target Searching PENG Hui, WAN Lin, SHEN Lin- cheng ( College of Mechatronics Engineering and Automation, National Univ. of Defense Technology, Changsha 410073, China) Abstract: On- line Autonomous Route Planning is the prerequisite for Unmanned Aerial Vehicles ( UAVs) to perform area search m-i ssion effectively. Firstly, to satisfy the rea-l time requirement of UAV search path planning , an autonomous route planning framework which integrates fixed search mode with dynamic search mode is presented. Then, based on basic Rapidly- exploring Random Tree ( RRT) , a modified RRT- based UAV route planning algorithm is proposed. The modified RRT method has introduced heuristic informa- tion, and improved the extension of RRT node, which can reduce the node number in a search tree and time cost. Simulation results demonstrate that the method is rea-l time and effective. Key words: Unmanned Aerial Vehicles(UAV) ;area target search ;rapidly- exploring random tree ;route planning [ 1] (Unmanned Aerial Vehicles, UAV) UAV , , , UAV , , , , [ 2] * , A UAV , [ 3] , , , , [ 4- 5] , ,