面向UAV任务规划需求的航迹冲突消解方法OA
A Trajectory Conflict Resolution Method for Unmanned Aerial Vehicle Mission Planning Requirements
针对UAV任务规划过程中的航迹规划问题,提出了一种基于辅助航点的航迹冲突消解方法.描述了UAV航迹规划任务想定.基于速度障碍锥模型,严格推导了飞行冲突的判定条件.考虑了航向调整带来的冗余距离需求,提出了通过在原有航迹上插入航点实现冲突消解的航迹重规划方法.通过数值仿真与实飞对所提算法进行了验证,结果表明,该算法能够有效提升无人机航迹规划安全性.
To address the trajectory planning problem in the mission planning of Unmanned Aerial Vehicle(UAV),this paper proposes a trajectory conflict resolution method based on auxiliary waypoints.Firstly,the mission scenario of UAV trajectory planning is described,and reasonable assumptions for this study are defined.Secondly,based on the velocity obstacle cone model,the judgment criteria for flight conflicts are rigorously derived.Then,considering the redundant distance requirements caused by heading adjustment,a trajectory replanning method for conflict resolution is proposed by inserting auxiliary waypoints into the original trajectory.Finally,numerical simulations and actual flight tests are used to validate the proposed algorithm.The results demonstrate that the proposed method can effectively improve the safety of UAV trajectory planning.
王宁;梁晓龙;李哲;严子荟;张志阳
空军工程大学空管领航学院,西安 710051||陕西省电子信息系统综合集成重点实验室,西安 710051空军工程大学空管领航学院,西安 710051||陕西省电子信息系统综合集成重点实验室,西安 710051空军工程大学空管领航学院,西安 710051||陕西省电子信息系统综合集成重点实验室,西安 710051空军工程大学空管领航学院,西安 710051||陕西省电子信息系统综合集成重点实验室,西安 710051空军工程大学空管领航学院,西安 710051||陕西省电子信息系统综合集成重点实验室,西安 710051
航空航天
任务规划冲突消解补充航点速度障碍法飞行安全
mission planningconflict resolutionauxiliary waypointsvelocity obstacle methodflight safety
《火力与指挥控制》 2026 (2)
90-100,11
陕西省自然科学基础研究计划基金资助项目(S2024-JC-YB-0343)
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