| 基于EMRP算法的多UAV协同航迹规划 |
| |
| 引用本文： | 张亮,鲁艺,徐安,胡智先,周帅,何海波.基于EMRP算法的多UAV协同航迹规划[J].电光与控制,2011,18(2):34-38,59. |
| |
| 作者姓名： | 张亮 鲁艺 徐安 胡智先 周帅 何海波 |
| |
| 作者单位： | 张亮,鲁艺,徐安,ZHANG Liang,LU Yi,XU An(空军工程大学工程学院,西安,710038);胡智先,HU Zhixian(北京市9203信箱19分箱,北京,100076);周帅,ZHOU Shuai(空军驻天津地区军事代表室,天津,300308);何海波,HE Haibo(中国人民解放军95291部队,湖南衡阳,421002) |
| |
| 摘 要： | 为解决作战环境中的多无人机协同航迹规划问题,提出一种基于层次分解策略的航迹规划方法.通过骨架化算法生成规划空间,利用基于进化计算的多航迹规划(EMRP)算法为各UAV找到K条备用航迹,实现了利用EMRP算法与数学形态学相结合解决多UAV协同航迹规划问题,并对生成的初始航迹进行平滑处理,得到满足UAV机动要求的可行航迹....
|
| 关 键 词： | 多无人机 航迹规划 EMRP算法 协同航迹规划 |
Cooperative Path Planning Based on EMRP Algorithm for Multi-UAVs |
| |
| ZHANG Liang,LU Yi,XU An,HU Zhixian,ZHOU Shuai,HE Haibo.Cooperative Path Planning Based on EMRP Algorithm for Multi-UAVs[J].Electronics Optics & Control,2011,18(2):34-38,59. |
| |
| Authors: | ZHANG Liang LU Yi XU An HU Zhixian ZHOU Shuai HE Haibo |
| |
| Affiliation: | ZHANG Liang1,LU Yi1,XU An1,HU Zhixian2,ZHOU Shuai3,HE Haibo4(1.Engineering Institute,Air Force Engineering University,Xi'an 710038,China,2.P.O.Box 9203-19,Beijing 100076,3.Military Deputy Office of Air Force in Tianjin,Tianjin 300308,4.No.95291 Unit of PLA,Hengyang 421002,China) |
| |
| Abstract: | A path planning method based on the hierarchical decomposition strategy was proposed for multi-UAV cooperative path planning in the battle field.First,the planning space was obtained by means of skeletonization algorithm,and K backup paths were generated for each UAV based on Evolutionary Multiple Route Planner(EMRP) algorithm.The EMRP algorithm was used together with mathematical morphology for solving the problem of multi-UAV cooperative path planning.The initial paths generated were smoothed,and the feas... |
| |
| Keywords: | multi-UAV path planning EMRP algorithm cooperative path planning |
| 本文献已被 CNKI 万方数据 等数据库收录！ |
|
