无人机高效监测森林火险随机全覆盖路径规划的研究.pdf

目录 中文摘要··································································································I 英文摘要·······························································································III 1 绪论 ·······································································································1 1.1 课题的研究背景与意义 1 1.1.1 研究背景与意义 1 1.1.2 课题来源 3 1.2 研究现状 3 1.2.1 森林火险监测现状 3 1.2.2 全覆盖路径规划研究现状 4 1.2.3 混沌随机全覆盖路径规划研究现状 5 1.3 主要研究内容与技术路线 6 1.3.1 主要研究内容与方法 6 1.3.2 技术路线 7 2 新混沌系统的构造与实现············································································8 2.1 混沌理论概述 8 2.1.1 混沌的定义 8 2.1.2 混沌的基本特征 9 2.1.3 混沌时间序列判别方法 10 2.2 忆阻Chua 系统 13 2.2.1 Chua 电路 13 2.2.2 忆阻器 14 2.2.3 忆阻Chua 系统的构建 15 2.2.4 构建忆阻无限多共存吸引子Chua 系统 18 2.3 本章小结 21 3 规划无人机随机全覆盖路径········································································22 3.1 构建无人机随机覆盖路径规划器 22 3.2 面向森林防火的无人机随机覆盖路径 23 3.3 无人机混沌随机全覆盖路径覆盖性分析 26 3.4 基于无限多共存吸引子混沌系统的无人机随机全覆盖路径规划 28 3.5 障碍物条件下的随机全覆盖路径规划 29 3.5.1 中心型障碍物 30 3.5.2 边界型障碍物 30 3.6 与其他方法的对比 31 3.6.1 与往复式覆盖路径规划方法对比 31 3.6.2 与随机游走方法比较 32 3.7 .本章小结 33 4 区域分级的无人机随机全覆盖规划·······························································34 4.1 森林火险等级区域分级 34 4.1.1 影响森林火险等级的因素 34 4.1.2 泰山火险等级图绘制 37 4.2 区域分级的无人机随机全覆盖路径规划 38 4.3 本章小结 41 5 随机全覆盖路径的平坦跟踪········································································42 5.1 微分平坦 42 5.1.1 微分平坦概念 43 5.1.2 微分平坦的性质 44 5.2 无人机混沌路劲的平坦控制 44 5.2.1 无人机运动学模型平坦属性判定 44 5.2.2 跟踪器设计 46 5.3 数值仿真 47 5.4 本章小结 49 6 总结与展望·····························································································50 6.1 主要研究工作及结论 50 6.2 创新点 51 6.3 存在问题与研究展望 51 参考文献 ··································································································52 致 谢·······································································································58 攻读硕士学位期间的学术成果·······························