载荷性能约束下的无人机区域侦察区域探测航路规划算法研究

Research on Route Planning Algorithm for Area DetectionReconnaissance of UAV with Load Performance Constraint

摘要:

无人机区域探测航路规划算法可广泛应用在搜索救援，监测勘察和环境监测等领域。为了解决无人机在载荷性能约束下的航路规划问题，以光电传感器（EO）为主载荷，结合无人机飞行特性，给出了一种基于无人机载荷约束下的区域探测航路规划算法。主要包括区域最小跨度的确定、块区分割线的生成、块区进出点分配和过渡圆弧轨迹生成等内容，利用这些步骤可快速完成对整个区域的全覆盖探测。通过对特定区域的探测航路规划仿真实验，验证了该算法在满足载荷约束、飞控性能约束以及任务区域限制的情况下实现了区域全覆盖探测，且航路最短的目的，并在对比仿真实验中验证了所提出的算法的优势。该算法的可迁移性较好，对于二维和三维区域探测都具有重要参考价值。

Abstract:

The route planning algorithm for area detection of unmanned aerial vehicle (UAV) can be widely used in search and rescue, investigation, environmental monitoring and other fields. In order to solve route planning problem of UAVs with the constraint of load performance, considering the electro-optical turret (EO) as the main load, a kind of load performance and flight performance based route planning algorithm for area detection of UAV is proposed. It includes the calculation of minimum span of the target area, the generation of block area, the allocation of entry and exit points for the block area, and the generation of transitional arc trajectory, etc., such that the whole area can be quickly covered by the load on the UAV through these methods. Through several area detection route planning experiments for a specific area, it is verified that the proposed algorithm achieves full coverage and shortest aerial route for the target area with the constraints of load performance, flight controller performance and task area limitation. Moreover, the advantage of proposed method has been proved in the comparison experiment. The algorithm is portably transferable, which is of great significance for both 2D and 3D area detection.