空军工程大学学报2024，Vol.25Issue(3)：94-102,9.DOI:10.3969/j.issn.2097-1915.2024.03.014
任务-中继无人机协同路径规划模型方法研究
Research on the Method of Collaborative Path Planning for Task-Relay Unmanned Aerial Vehicles
摘要
Abstract
In order to achieve continuous remote communication between multiple source nodes and the Ground Control Station(GCS),a solution method is proposed for dynamic path planning of relay un-manned aerial vehicles based on the artificial potential field method.The relay cluster computation module is to dynamically divide the relay clusters according to the maximum density clustering,realizing the dy-namic adjustment of the number of relay nodes.The dynamic path planning module for relay nodes em-ploys in accordance with the concept of artificial potential fields,enabling the relay drones to mobilize to suitable positions based on the resultant force of the potential field while possessing dynamic obstacle a-voidance and collision prevention capabilities.The simulation experiments are conducted on the construc-ted model with different task payload settings.The results demonstrate that the relay unmanned aerial ve-hicles can reliably achieve multi-hop relaying between multiple source nodes and the GCS,with a connec-tivity rate of communication links being no less than 99.83%,the number of source nodes being no greater than 10,and the number of threat zones in the airspace being no greater than 7.关键词
无人机/路径规划/通信中继/人工势场法/最大值密度聚类Key words
UAV/path planning/communication relay/artificial potential field/maximum density clustering分类
航空航天引用本文复制引用
张国辉,张雅楠,高昂,林俊余,许奥宇..任务-中继无人机协同路径规划模型方法研究[J].空军工程大学学报,2024,25(3):94-102,9.基金项目
国家自然科学基金(U21A20428) （U21A20428）
