计算机工程与应用Issue(20)：235-239,5.DOI:10.3778/j.issn.1002-8331.1303-0382
利用动态规划和电势理论规划UAV三维航迹
UAV 3D trajectory planning by using dynamic programming and potential theory
摘要
Abstract
A modified potential theory is utilized to plan for three-dimensional path for UAV. After fully considering the terrain threat and the threat of the fire and radar appearing at the same time, their weights’inflection on path planning is studied. By limiting distance from the routes to the straight-line including task’s starting and ending points, it is not only to overcome the potential method’s problem of no converging to target, but also to short flight range. It studies the affection of various factors’ different weights of penalty function on the flight routes to select the optimal weight coefficients. It shows that through the simu-lation experiments, the method can successfully design safety flight path for UAV.关键词
电势理论/综合威胁场/三维航迹规划/威胁回避/无人机(UAV)Key words
potential field theory/comprehensive threats field/3 dimensional flight planning/threat avoidance/Unmanned Aerial Vehicle(UAV)分类
航空航天引用本文复制引用
刘丽峰,曲国庆,孔维华..利用动态规划和电势理论规划UAV三维航迹[J].计算机工程与应用,2013,(20):235-239,5.基金项目
山东理工大学博士基金（No.411022）。 （）
