本文選題：無人機 + 航跡規(guī)劃�。� 參考：《北京理工大學》2015年碩士論文

【摘要】：航跡規(guī)劃是指在一些特定的約束條件下,為飛行器尋找從起始點到目標點滿足某些性能指標的最優(yōu)飛行航跡。航跡規(guī)劃是實現(xiàn)飛行器自主智能的一項關鍵技術,無論在理論還是實際應用上都具有重大意義。論文圍繞無人機航跡規(guī)劃技術,主要對以下內容進行研究:(1)航跡規(guī)劃空間的建模;(2)航跡規(guī)劃算法;(3)威脅回避技術研究。首先,本文介紹了航跡規(guī)劃的研究背景,并對國內外研究現(xiàn)狀以及發(fā)展趨勢進行了綜述。然后,分別介紹了無人機航跡規(guī)劃的基礎,包括航跡表示、環(huán)境模型的建立,如:數(shù)字地形和常見威脅模型、無人機運動學性能約束模型以及航跡評價。其次,對典型航跡規(guī)劃算法進行研究對比,重點介紹了稀疏A*算法和基于遺傳算法的航跡規(guī)劃并仿真驗證。在此基礎上,論文提出了采用最小二叉堆數(shù)據(jù)結構和變步長方案的改進A*算法。針對遺傳算法收斂慢和早熟特性,提出了產(chǎn)生優(yōu)秀個體的A搜索方案,并通過仿真結果對比分析。再次,對三維航跡避障方法進行研究,提出了基于幾何學的三維避障方法并仿真分析驗證算法的可行性。
[Abstract]:Track planning refers to finding the optimal flight path for the aircraft from the starting point to the target point under some specific constraints. Track planning is a key technology to realize autonomous intelligence of aircraft, which is of great significance both in theory and in practice. This paper focuses on the technology of UAV track planning. The main contents are as follows: (1) the modeling of track planning space; (2) the algorithm of route planning; (3) the research of threat avoidance technology. Firstly, this paper introduces the research background of route planning, and summarizes the research status and development trend at home and abroad. Then, the basis of UAV track planning is introduced, including track representation, environment model establishment, such as digital terrain and common threat model, UAV kinematics performance constraint model and track evaluation. Secondly, the typical track planning algorithms are studied and compared, and the sparse A * algorithm and the genetic algorithm based track planning are introduced and verified by simulation. On this basis, an improved A * algorithm using least-square stack data structure and variable step size scheme is proposed. Aiming at the characteristic of slow convergence and premature convergence of genetic algorithm, an A search scheme for generating excellent individuals is proposed, and the simulation results are compared and analyzed. Thirdly, the 3D track avoidance method is studied, and a geometry based 3D obstacle avoidance method is proposed, and the feasibility of the algorithm is verified by simulation analysis.
【學位授予單位】：北京理工大學
【學位級別】：碩士
【學位授予年份】：2015
【分類號】：V279

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本文編號：2071538