战术飞行路径规划算法.PDFVIP

第6 卷　第4 期 交 通 运 输 工 程 学 报 Vol.6　No.4 2006 年12 月 Journal of T raffic and Transportation Engineering Dec. 2006 :1671-1637(2006)04-00 4-04 1 1 2 3 张永芳 ,张　安,张志禹 ,张九龙 (1. , 　710072;2. , 　71004 ;3. , 　71004 ) 　:为了找出在某些约束条 下的最优飞行路径,提出了一种基于Voronoi 图的战术飞行路径规 划算法,建立了威胁代价函数,采用分解策略,首先生成一条由若干直线段连接的参考航路,然后利用 B 样条函数对规划的参考航路进行动态修正,用Matlab 进行了仿真验证。仿真结果表明了路径规则 算法是有效的,修正后的路径避免了带有尖角的不可飞路径,满足最小飞行半径与动力约束。 :交通规划;路径规划;航路修正;Voronoi 图 :V249.1　　　:A Planning algorithm of tactics flight path 1 1 2 3 Zhang Yong-fang , Zhang A n , Zhang Zh-i yu , Zhang Jiu-long (1.School of Elect ronics and Information, Northwestern Polytechnical University, Xi’an 710072, Shaanxi, China; 2.School of Automation and Information Engineering, Xi’an University of Technology, Xi’an 71004 , Shaanxi, China; 3.School of Computer Science and Engineering, Xi’an University of Technology, Xi’an 71004 , Shaanxi, China) Abstract:In order to find optimal flight path w ith certain constraints, a trajectory planning algorithm of tactics flight path based on Voronoi diagram w as presented, the function of threat cost w as formulated, reference flight path consisting of a series of beeline segments was generated by decomposition strategy, and rea-l time planning flight path was optimized by B spline, its simulation test w as done by M atlab. Simulation result show s that the algorithm is feasible, the optimal flight path satisfies flight dynamic constraints and minimal flight radius, avoids unfeasible flight routine w ith sharp angles. 5 figs, 10 refs. Key words:traffic planning;path planning ;trajectory modifying;Voronoi diagram Author resume:Zhang Yon