| 引用本文: | 彭辉,王林,沈林成.区域目标搜索中基于改进RRT的UAV实时航迹规划.[J].国防科技大学学报,2009,31(5):86-91.[点击复制] |
| PENG Hui,WANG Lin,SHEN Lincheng.The Modified RRT-based Real-time Route Planning for UAV Area Target Searching[J].Journal of National University of Defense Technology,2009,31(5):86-91[点击复制] |
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| 区域目标搜索中基于改进RRT的UAV实时航迹规划 |
| 彭辉, 王林, 沈林成 |
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(国防科技大学 机电工程与自动化学院，湖南 长沙 410073)
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| 摘要: |
| 在线自主航迹规划是无人机(Unmanned Aerial Vehicles, UAV)执行区域目标搜索任务的有效保证。针对UAV区域搜索中航迹规划的实时性要求，提出了一种固定搜索模式和动态搜索模式相结合的UAV自主航迹规划框架。在快速扩展随机树(RRT)方法的基础上，通过改进随机扩展树的节点选择和引入启发式信息，提出了基于改进RRT的 UAV实时搜索航迹规划算法，该算法能够有效降低在线航迹规划的时间代价和扩展节点数。仿真实验结果验证了本文方法的有效性。 |
| 关键词: 无人机 区域目标搜索 快速扩展随机树 航迹规划 |
| DOI： |
| 投稿日期：2009-03-30 |
| 基金项目:国防基础科研项目(A2820080247)；国防科学技术大学博士创新资助项目(B080304) |
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| The Modified RRT-based Real-time Route Planning for UAV Area Target Searching |
| PENG Hui, WANG Lin, SHEN Lincheng |
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(College of Mechatronics Engineering and Automation，National Univ. of Defense Technology，Changsha 410073，China)
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| Abstract: |
| On-line Autonomous Route Planning is the prerequisite for Unmanned Aerial Vehicles (UAVs) to perform area search mission effectively. Firstly, to satisfy the real-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 information, 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 real-time and effective. |
| Keywords: Unmanned Aerial Vehicles(UAV) area target search rapidly-exploring random tree route planning |
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