基于威胁评估和扩展Voronoi图的战术飞行轨迹规划方法
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摘要
针对目前各种基于Voronoi图的路径规划方法在威胁处理过程中存在的问题,提出了一种基于威胁评估和扩展Voronoi图的战术飞行轨迹规划方法。建立了基于贝叶斯网络和模糊逻辑的威胁源威胁度和路径威胁度评估模型,在此基础上建立包括路径威胁度和燃油在内的最优路径代价计算模型。结合扩展Voronoi图的路径生成方法以及Dijkstra路径规划算法,得到了从飞行起点到目标点的能够适应战场态势变化的最小代价路径。最后利用κ-Trajectory路径圆滑算法,得到了与所规划路径等长的圆滑可飞的最优路径。仿真结果验证了所提方法的可行性和有效性。
Considering the problems existing in the present flight trajectory planning using the Basic Voronoi Graphics(BVG), a method of tactical flight trajectory planning by integrated threat assessments with Improved Voronoi Graphics(IVG) was proposed. A threat level assessment model of the threat source and a threat level assessment model of the path were developed based on Bayesian network and fuzzy logic. A new model for calculating the path cost was given, including the threat cost and the fuel cost. By integrating the path threat assessment models with the IVG, trajectory planning with minimum path cost is implemented using Dijkstra algorithms, which can adapt the changing situations in the battle field. Considering the dynamical constraints of vehicle, a κ-Trajectory algorithm is applied to smooth the flying path ensuring that the actual trajectory length is equal to the length of the planned path.The simulation results demonstrate the effectiveness of the proposed integrated trajectory planning method based on threat assessments and IVG.
Considering the problems existing in the present flight trajectory planning using the Basic Voronoi Graphics(BVG), a method of tactical flight trajectory planning by integrated threat assessments with Improved Voronoi Graphics(IVG) was proposed. A threat level assessment model of the threat source and a threat level assessment model of the path were developed based on Bayesian network and fuzzy logic. A new model for calculating the path cost was given, including the threat cost and the fuel cost. By integrating the path threat assessment models with the IVG, trajectory planning with minimum path cost is implemented using Dijkstra algorithms, which can adapt the changing situations in the battle field. Considering the dynamical constraints of vehicle, a κ-Trajectory algorithm is applied to smooth the flying path ensuring that the actual trajectory length is equal to the length of the planned path.The simulation results demonstrate the effectiveness of the proposed integrated trajectory planning method based on threat assessments and IVG.
引文
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[2] Beard R W, McLain T W, Goodrich M A, et al. Coordinatedtarget assignment and intercept for unmanned air vehicles[J].IEEE Transaction on Robotics and Automation, 2002, 18(6):911-922.
[3] McLain T W, Beard R W. Coordination variables, coordinationfunctions and cooperative timing missions[J]. Journal ofGuidance, Control and Dynamics, 2005, 28(5):150-161.
[4] Zhu R, Sun D, Zhou Z. Cooperation strategy of unmanned airvehicles for multitarget interception[J]. Journal of Guidance,Control and Dynamics, 2005,28(5):1068-1072.
[5]肖秦琨,高晓光.一种无人机局部路径重规划算法研究[J].飞行力学,2006, 24(1):86-89.Xiao Qinkun, Gao Xiaoguang. Research on local patheprogramming algorithm for unmanned aerial vehicle[J].Flight Mechanics, 2006, 24(1):86-89.(in Chinese)
[6] Mulgund S S, Zacharias G L. A situation-driven adaptive pilot/vehicle interface[C]//Human Interaction with ComplexSystems Symposium, 1996.
[7]董卓宁.无人机突情感知与突情处理智能自主控制技术研究[D].北京:北京航空航天大学, 2010.Dong Zhuoning. Research on intelligent autonomous controltechnology of unmanned aerial vehicle sudden emotionknowledge and sudden emotion processing[D]. Beijing:Beihang University, 2010.(in Chinese)
[8] Pear J. Probabilistic reasoning in intelligent systems:Networksof plausible inference[M] San Francisco, CA:MorganKaufmann Publishers, INC, 1998.
[9] Hanson M, Sullivan O, Harper K. On-line situation assessmentfor unmanned vehicles[C]//Proceedings of the ArtificialIntelligence and Research Society(FLAIRS)Conference,FLorida, 2001.
[10]周锐,余舟毅,池沛,等.战术辅助决策系统中的态势评估问题研究[J].系统仿真学报, 2005, 17(9):2130-2133.Zhou Rui, Yu Zhouyi, Chi Pei, et al. Research on situationassessment in tactical decision support system[J]. Journal ofSystem Simulation, 2005, 17(9):2130-2133.(in Chinese)
[11]周培德,卢开澄.计算几何:算法分析与设计[M].北京:清华大学出版社,2005.Zhou Peide, Lu Kaicheng. Computational geometry:Algorithmanalysis and design[M]. Beijing:Tsinghua University Press,2005.(in Chinese)
[12]卢开澄.图论及其应用[M].北京:清华大学出版社,1995.Lu Kaicheng. Graph theory and application[M]. Beijing:Tsinghua University Press, 1995.(in Chinese)
[13]Anderson E P, Beard R W, McLain T W. Dynamic trajectorysmoothing for UAVs[J]. IEEE Transactions on Control SystemTechnology, 2003(5):3-13.