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1、华中科技大学硕士学位论文AbstractItisnecessaryconditionforUnmannedaerialvehicles(UAV)tocompletescheduledtaskchains,thatflyingalongthedesiredtrajectoryaccuratelyandreliablyviaautomaticnavigation.Butinfact,UAV'snavigationsystemmaybefailedorwrongforsomeunknownreasons,orotheremer
2、gencytasksneedtoprioritize.Allthesecanleadthescheduledtaskchainstobechanged,makeUAVdifficulttocompleteit.Thiseventcalledout-of-toleranceofflight,andthecorrespondingeventinformationcalledout-of-toleranceinformation.Inordertoreducetheinfluenceofscheduledtaskchainsc
3、an'tbecarriedoutsmoothly.InadditiontoimprovethereliabilityofUAVnavigationsystemitself,accurateandtimelymonitoringandquicklyprocessingtoout-of-toleranceinformationisalsoveryimportant.Thisarticlestudiesonthisissue.Thisarticleintroducestheconceptofout-of-tolerancean
4、dit'scausereasonsfirst.Andanalysestheinfluencetoscheduledtaskchains'execution.Andanalysesthetreatmentmethodsofseveraltypicalkindsofout-of-toleranceindetail.Meanwhile,astheprocessofout-of-toleranceneedlocalreal-timepathplanningmethod,thisarticlethenanalysestheloca
5、lreal-timepathplanningproblemmodel,anddiscussedseveralkindsofalgorithm'sapplicabilityinthemodel.Onthebasis,thisarticlepointsoutthelimitationsoftraditionalalgorithmsuchasgeneticalgorithmindealingwithlocalreal-timepathplanning.thenanalysesthespecificreasonsofthelim
6、itations.Andverifytheanalysesbyexperiment.Allthesegiveadirectionforovercomingalgorithms'defects.Tosolvetheproblemsthatunabletoplanbackandrequestenoughforwardmaneuverdistancewhenpathplanning,thisarticleputsforwardalocalreal-timepathplanmethodcombinedwithorient-cir
7、cletheory.Asthesimilaritybetweenorient-circleandcontinuousturningpath.Whenthestartpointandendpoint'sdirectionhashugedifference,themethodcanaddapathsegmentinthetwopoints',tomakethedifferencesmaller,andavoidplanbackproblem.Andwhenthetwopointsaretooclose,thismethodc
8、anaddanintermediatepointapartfromthetwopoints.Theintermediatepointcanguidethealgorithmgothrougharoundaboutway,andmaketheforwardmaneuverdistancelonger.Experimen
