计算机工程与应用2018，Vol.54Issue(8)：255-259,5.DOI:10.3778/j.issn.1002-8331.1709-0345
突发威胁情况下的无人机航迹重规划
Path replanning for UAV in emergent threats
朱杰 1鲁艺 2张辉明1
作者信息
- 1. 空军工程大学 研究生院,西安710038
- 2. 空军工程大学 航空工程学院,西安710038
- 折叠
摘要
Abstract
To improve the practicability of the Voronoi diagram for path planning,a model which is based on the improved Voronoi diagram is presented.According to bringing in the boundary of the threat sources noncrossing region,using com-promised principle, the path topological space on the basis of Delaunay triangulation is established.The improved Vor-onoi diagram model expands the number of path segments for traditional model,improves the sensitivity of the path seg-ments to the threats,and makes the planning path more reasonable.Secendly,based on analyzing the influence of emer-gent threats to path topological space,a kind of path replanning model is proposed.Combined with D*algorithm,the path replanning in the emergency is studied and the ideal path is planned.关键词
突发威胁/航迹重规划模型/改进型Voronoi图/折中原理/D*算法Key words
emergent threats/path replanning model/improved Voronoi diagram/compromised principle/D*algorithm分类
航空航天引用本文复制引用
朱杰,鲁艺,张辉明..突发威胁情况下的无人机航迹重规划[J].计算机工程与应用,2018,54(8):255-259,5.
