沈阳航空航天大学学报2026，Vol.43Issue(1)：56-62,7.DOI:10.3969/j.issn.2095-1248.2026.01.008
无人机辅助下的无人车路径规划方法
Unmanned vehicle path planning method assisted by UAV
摘要
Abstract
In view of the problem of path planning caused by unknown environment when unmanned vehicle performs tasks in complex rescue environment,a dynamic path planning method was proposed for unmanned vehicle assisted by UAV.Firstly,UAV aerial images and SURF algorithm were used to assemble the aerial images to build the complete map information.Then the color space conversion and morphological processing were performed to identify the obstacle information.Finally,the improved artificial potential field method was applied to conduct the unmanned vehicle path planning,and the dynamic gain factor and influence function method were proposed to redesign the potential field function to solve the target inaccessible problem;meanwhile,A* algorithm was proposed to solve the local minimum problem of the artificial potential field method.The results show that the UAV-assisted unmanned vehicle path planning method is feasible and efficient,which improves the performance of unmanned vehicle path planning in complex rescue environment.关键词
无人机辅助/无人车/路径规划/图像处理/SURF算法/改进的人工势场法Key words
UAV assistance/unmanned vehicle/path planning/image processing/SURF algorithm/improved artificial potential field method分类
信息技术与安全科学引用本文复制引用
卢艳军,王栋宇,张晓东,刘畅..无人机辅助下的无人车路径规划方法[J].沈阳航空航天大学学报,2026,43(1):56-62,7.基金项目
国家重点研发计划项目(项目编号:2022YFC293805) （项目编号:2022YFC293805）
辽宁省属本科高校基本科研业务费专项资金资助项目(项目编号:LJ232410143020). （项目编号:LJ232410143020）
