计算机应用 ›› 2011, Vol. 31 ›› Issue (09): 2574-2576.DOI: 10.3724/SP.J.1087.2011.02574

• 典型应用 • 上一篇    下一篇

无人飞行器航迹规划研究

陈海汉1,刘因2,杜运磊3   

  1. 1. 合肥工业大学 管理学院,合肥 230009
    2. 合肥工业大学 资源与环境工程学院,合肥 230009
    3. 华安证券有限责任公司,合肥 230069
  • 收稿日期:2011-03-31 修回日期:2011-06-01 发布日期:2011-09-01 出版日期:2011-09-01
  • 通讯作者: 陈海汉
  • 作者简介:陈海汉(1983-),男,安徽合肥人,博士研究生,主要研究方向:信息管理与信息系统;
    刘因(1955-),男,江苏南京人,教授,主要研究方向:资源地理信息技术;
    杜运磊(1985-),男,安徽六安人,硕士,主要研究方向:信息管理与信息系统。
  • 基金资助:
    国家自然科学基金资助项目(71071045)

Path planning of unmanned aerial vehicle

CHEN Hai-han1,LIU Yin2,DU Yun-lei3   

  1. 1. School of Management, Hefei University of Technology, Hefei Anhui, 230009, China
    2. School of Resources and Environmental Engineering, Hefei University of Technology, Hefei Anhui 230009, China
    3. Huaan Securities Company with Limited Liability, Hefei Anhui 230069, China
  • Received:2011-03-31 Revised:2011-06-01 Online:2011-09-01 Published:2011-09-01
  • Contact: CHEN Hai-han

摘要: 航迹规划的目的是要利用地形和敌情等信息,规划出生存概率最大的无人飞行器突防轨迹。通过对航迹规划任务的仿真需求分析,对无人飞行器的航迹规划进行了研究。首先根据遍布威胁的战场环境,构造了基于威胁源的Voronoi图,得到规避威胁的航迹路线;然后采用Dijkstra算法,搜索出最优航迹路线;最后利用Visual Studio .Net 2010开发平台,在MS SQL Server 2008数据库支持下,运用Visual C# 2008编制图形化界面,设计开发了无人飞行器航迹规划仿真系统,并给出了开发结果,实现了仿真结果的图形显示,为进一步的研究航迹规划奠定了基础。

关键词: 航迹规划, Voronoi图, Dijkstra算法, Delaunay三角网

Abstract: Path planning is designed to make use of terrain and enemy and other information to plan out the largest survival probability penetration trajectory of Unmanned Aerial Vehicle (UAV). After analyzing the simulation needs of path planning, the path planning of UAV was studied. Firstly, a Voronoi diagram was constructed based on the battle field environment full of threats. The Voronoi diagram yields the optimal routes to travel among a set of threat source points to avoid the threats. Then, Dijkstra algorithm was used to search the optimal route. Finally, the simulation system of path planning was carried out on the platform of Visual Studio .Net 2010 based on MS SQL Server 2008 database and Visual C # 2008 language, and the simulation result was given in graph form, which provided a good basis for further study.

Key words: path planning, Voronoi diagram, Dijkstra algorithm, Delaunay triangular network

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