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摘要: 为了找出在某些约束条件下的最优飞行路径, 提出了一种基于Voronoi图的战术飞行路径规划算法, 建立了威胁代价函数, 采用分解策略, 首先生成一条由若干直线段连接的参考航路, 然后利用B样条函数对规划的参考航路进行动态修正, 用Matlab进行了仿真验证。仿真结果表明了路径规则算法是有效的, 修正后的路径避免了带有尖角的不可飞路径, 满足最小飞行半径与动力约束。Abstract: In order to find optimal flight path with certain constraints, a trajectory planning algorithm of tactics flight path based on Voronoi diagram was presented, the function of threat cost was formulated, reference flight path consisting of a series of beeline segments was generated by decomposition strategy, and real-time planning flight path was optimized by B spline, its simulation test was done by Matlab.Simulation result shows that the algorithm is feasible, the optimal flight path satisfies flight dynamic constraints and minimal flight radius, avoids unfeasible flight routine with sharp angles.
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Key words:
- traffic planning /
- path planning /
- trajectory modifying /
- Voronoi diagram
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