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时间:2019-11-26
《基于PH曲线的多无人飞行器协同航迹规划研究.pdf》由会员上传分享,免费在线阅读,更多相关内容在学术论文-天天文库。
1、947:91;$;<=67Vol.47No.12017>1?AeronauticalComputingTechniqueJan.2017!"PHÊË%Ìͧ嶦ÏÐÑ®úûü,Tý(;<$'=>&5?@=>A,BCDE264001)01:D>°²6<º¼ÅP2Jþ,ÿ!G&MÀo"w#$À%&,Áž¹êm2'](;<)*,+,¶±,-̬±-./。34PythagoreanHodograph(PH)0;2、2k°²6<º¾¹/1ê2fc2ÄÍZ。234:k°²6<º;PH0;¾¹/1ê2;àPc56.78:O2329:;<=:A9>?8:1671?654X(2017)01?0014?04ResearchonCooperatePathPlanningofMultipleUAVsBasedonPHCurveHANQing?tian,ZHANGYi(ControlEngineeringDepartment,NavalAeronauticalandAstronauticalUniversity,Yantai264001,China)Abstrac3、t:WiththedevelopmentofUAV,howtoavoidthemovingthreatfortheUAVunderthedynamicenvironmentandcooperatecompletethemissionatthespecifiedtimeandanglebecomesaspotproblem.UsingthePHcurvethetrajectoryisplannedon?line.Theestimationofdistributionalgorithmandthedifferentialevolution4、algorithmarecombinedtooptimizethetrajectoryparameters.Theon?lineobstacleavoidancemethodandthecooperationplanningmethodaregiven.Simulationresultsshowthevalidityofthemultipleintelligentmissilecooperatepathplanningmethodwithpredictionofthevelocity.Keywords:multipleUAV;PHcu5、rve;cooperatepathplanning;optimizationalgorithm@AàâÄ6、A$ijLOy45'`rRTâth'$.。Á-gh੬787¿'Å,NO7、6L{./9K'Á-ghà,R+23C'¦V.DhKLij'Á-ghà$.Tââtr[1]LOXYv<=,ã`ÄÅÕ¿'»,ß×Ç、WÆ945,I:ï±y'IJ,[2][3]Iã䤿、ãärs8KLyìÒ,îO,UpTâA=Ç、)!JÆÇ8,ì=ÇC'$.dï]ÙÅ。íî,Á-ghàB4À'8、O、<=²,F:5Ç,¶µÙÅ。RTâí$.'ât。DhKL9、ij'Á-ghàoWâ10、Tâtgh$.,NOr95×'9Y¨ZC::ph11、ijØæ,gó12、Tðv`O,@tNOäåKL¢£H¿Á-ghà/[4]âoV'gh$.,®ó¼§Á-ghàØ`-N,dPythagoreanHodograph(PH)äÅ/Á-¬ãä-。13、¤Z},Á-ghàgh$.ghà'14、$.Tâ}。Tâ.ij'Dh^"~YÅ。¿Á-ghàR$.Tâ,-H'¢£¡Ö1!"PHÊË%ÒÓÔËÕ¦ÏÐÑ¿,R4mnÁ-ghàq'y⢣、;D¢£、PHäTâ(oC2TäQÆ(,îäOD¢£、ij¢£、/N¢£8。'15、9gh''íã16、、äQ、äâ²âGx1D5,YoxNQ¡Ö,¿Á-ghàCD'àáNO~2¡Ö,^ñv)Ô'-v2µÄÅ。yâawr9W/N$.Tâ5×'àáyv¶ã。íî,äÓZo®÷gh(vä®ÿäâ²,NOäÄÅ»ð'}Dæ~vTâÇ,z¿Á-ghåéÞÁÂ::gh(hoV,û:äå.KBCDE:2016-08-31FGDE:2016-11-01!HIJ:ýþgÿñÈb#$"ã(61203168);}ý01óÿñÈbIÜ#$"ã(2012M512136)KLMN:(1976-),(,-,h,01,R42o+ÿñEZ、'àz{。2017>1?8:17、È/PHä'¿Á-ghà/N$.Tâ·15·àá'k{,é:LM¿Á-ghàNO¬«。1(u0u2-v0v2,u0v2+u2v0)(11)_»nÊÁ-ghà,(TâO,ª±9iÊÁ15-ghà'^ñ-psi
2、2k°²6<º¾¹/1ê2fc2ÄÍZ。234:k°²6<º;PH0;¾¹/1ê2;àPc56.78:O2329:;<=:A9>?8:1671?654X(2017)01?0014?04ResearchonCooperatePathPlanningofMultipleUAVsBasedonPHCurveHANQing?tian,ZHANGYi(ControlEngineeringDepartment,NavalAeronauticalandAstronauticalUniversity,Yantai264001,China)Abstrac
3、t:WiththedevelopmentofUAV,howtoavoidthemovingthreatfortheUAVunderthedynamicenvironmentandcooperatecompletethemissionatthespecifiedtimeandanglebecomesaspotproblem.UsingthePHcurvethetrajectoryisplannedon?line.Theestimationofdistributionalgorithmandthedifferentialevolution
4、algorithmarecombinedtooptimizethetrajectoryparameters.Theon?lineobstacleavoidancemethodandthecooperationplanningmethodaregiven.Simulationresultsshowthevalidityofthemultipleintelligentmissilecooperatepathplanningmethodwithpredictionofthevelocity.Keywords:multipleUAV;PHcu
5、rve;cooperatepathplanning;optimizationalgorithm@AàâÄ
6、A$ijLOy45'`rRTâth'$.。Á-gh੬787¿'Å,NO
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