本文選題：無人機 + 航路規(guī)劃�。� 參考：《哈爾濱工業(yè)大學》2016年碩士論文

【摘要】：任務規(guī)劃系統(tǒng)(Mission Plan System)是無人機(Unmanned Aerial Vehicle,UAV)相關應用技術的一個重要內(nèi)容,它為無人機分配任務,指引無人機的行動方向。在近年來局部戰(zhàn)爭中作用發(fā)揮明顯,世界各國在軍事應用中都在廣泛關注無人機。無人機航路規(guī)劃(Path Planning)技術是任務規(guī)劃系統(tǒng)的重要組成部分,是無人機實現(xiàn)智能導航和安全順利完成任務的技術保障。研究無人機航路規(guī)劃問題的本質(zhì)就是研究多約束條件下,求解多目標函數(shù)極值的問題。規(guī)劃出導航準確性高、安全性高、適應任務需求的最優(yōu)或次優(yōu)航路,對提高無人機系統(tǒng)作戰(zhàn)效能有重要意義。論文主要是針對當前無人機飛行訓練、執(zhí)行作戰(zhàn)任務時,離線航路規(guī)劃缺乏評估,航路實用性不強,在線航路規(guī)劃修正不及時,無人機飛行安全系數(shù)低的現(xiàn)狀,進行無人機航路規(guī)劃評估及修正方法研究。論文分析了無人機的物理特性約束建立了無人機航路規(guī)劃數(shù)學模型,分析了無人機的飛行環(huán)境約束建立了環(huán)境模型,分析了無人機飛行航路潛在的威脅源建立了航路規(guī)劃威脅源模型。論文概括和總結(jié)了無人機航路規(guī)劃問題,分析了幾種比較典型的規(guī)劃算法,對靜態(tài)離線無人機航路規(guī)劃評估算法進行了探討,主要研究基于毀傷概率密度的無人機航路突防算法,飛行約束評估算法。運用A*算法和B樣條曲線擬合方法對無人機航路進行在線修正,設定了仿真環(huán)境,基于五個方面考慮對無人機航路修正進行仿真,一是考慮無人機探測半徑的航跡修正,二是包含不規(guī)則障礙物的航跡修正,三是考慮突發(fā)情況的航跡修正,四是考慮目標位置改變的航跡修正,五是考慮目標變異的航跡修正,仿真結(jié)果表明,每種考慮情況的航向角控制量都能滿足的最大轉(zhuǎn)彎角速率要求,所生成的平滑航跡有效且滿足要求。本文以某型小型戰(zhàn)術無人機的訓練為背景,開展無人機航路規(guī)劃評估及修正方法研究,設計并實現(xiàn)了某型小型戰(zhàn)術無人機離線航路規(guī)劃評估軟件。軟件重點對無人機航路數(shù)據(jù)管理功能、無人機航路評估功能、無人機航路及評估結(jié)果顯示功能、飛行地圖操作功能、無人機航路再規(guī)劃(即優(yōu)化調(diào)整)功能和態(tài)勢標繪功能進行了測試,測試結(jié)果表明該軟件人機交互功能良好,能夠滿足航路規(guī)劃的實際應用需求。
[Abstract]:Mission Plan system is an important part of Unmanned Aerial vehicle UAV (UAV) related application technology. It assigns tasks to UAV and directs the operational direction of UAV. In recent years, local wars play a significant role in the world in military applications are widely concerned about unmanned aerial vehicles (UAVs). Path planning is an important part of mission planning system, and it is the technical guarantee for UAV to realize intelligent navigation and complete tasks safely and smoothly. The essence of studying UAV route planning problem is to study the problem of solving multiobjective function extremum under multi-constraint conditions. It is of great significance to plan the optimal or suboptimal route for UAV system with high navigation accuracy, high safety and adaptability to mission requirements. This paper mainly aims at the current situation of UAV flight training, lack of evaluation of off-line route planning, lack of practical route, modification of online route planning, low flight safety factor of UAV. The evaluation and correction methods of UAV route planning are studied. In this paper, the physical characteristic constraints of UAV are analyzed, and the UAV route planning mathematical model is established, and the UAV flight environment constraint is analyzed. The potential threat sources of UAV flight path are analyzed and the model of route planning threat source is established. In this paper, the problem of UAV route planning is summarized, several typical planning algorithms are analyzed, and the evaluation algorithm of static off-line UAV route planning is discussed. This paper mainly studies the route penetration algorithm and flight constraint evaluation algorithm of UAV based on damage probability density. The method of A* algorithm and B-spline curve fitting is used to modify the UAV flight path online, and the simulation environment is set up. Based on five aspects, the UAV route correction is simulated. Firstly, the track correction considering the UAV detection radius is considered. The second is track correction including irregular obstacles, the third is track correction considering sudden events, the fourth is track correction considering the change of target position, and the other is track correction considering target variation. The simulation results show that, The maximum turning angle rate can be satisfied by the course angle control quantity in each case, and the smooth track generated is effective and meets the requirements. In this paper, based on the training of a small tactical UAV, the evaluation method of UAV route planning and modification is studied, and the off-line route planning evaluation software of a small tactical UAV is designed and implemented. The software focuses on UAV route data management function, UAV route evaluation function, UAV route and evaluation result display function, flight map operation function, The functions of UAV route replanning (i.e. optimization and adjustment) and situation plotting are tested. The test results show that the software has good man-machine interaction function and can meet the practical application requirements of route planning.
【學位授予單位】：哈爾濱工業(yè)大學
【學位級別】：碩士
【學位授予年份】：2016
【分類號】：V279
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本文編號：1932343