火力与指挥控制2026，Vol.51Issue(2)：90-100,11.DOI:10.3969/j.issn.1002-0640.2026.02.012
面向UAV任务规划需求的航迹冲突消解方法
A Trajectory Conflict Resolution Method for Unmanned Aerial Vehicle Mission Planning Requirements
摘要
Abstract
To address the trajectory planning problem in the mission planning of Unmanned Aerial Vehicle(UAV),this paper proposes a trajectory conflict resolution method based on auxiliary waypoints.Firstly,the mission scenario of UAV trajectory planning is described,and reasonable assumptions for this study are defined.Secondly,based on the velocity obstacle cone model,the judgment criteria for flight conflicts are rigorously derived.Then,considering the redundant distance requirements caused by heading adjustment,a trajectory replanning method for conflict resolution is proposed by inserting auxiliary waypoints into the original trajectory.Finally,numerical simulations and actual flight tests are used to validate the proposed algorithm.The results demonstrate that the proposed method can effectively improve the safety of UAV trajectory planning.关键词
任务规划/冲突消解/补充航点/速度障碍法/飞行安全Key words
mission planning/conflict resolution/auxiliary waypoints/velocity obstacle method/flight safety分类
航空航天引用本文复制引用
王宁,梁晓龙,李哲,严子荟,张志阳..面向UAV任务规划需求的航迹冲突消解方法[J].火力与指挥控制,2026,51(2):90-100,11.基金项目
陕西省自然科学基础研究计划基金资助项目(S2024-JC-YB-0343) （S2024-JC-YB-0343）
