救援直升机航迹规划研究
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摘要
航迹规划是民用直升机在执行搜救任务前的一项重要飞行准备工作。特别是在山区等地形条件较为复杂的地区,人工规划航迹效率低下,且不尽合理,所以本文提出并研究了救援直升机的航迹规划问题。旨在快速合理地规划出一条既保证飞行安全,又能最快到达目的地的飞行航迹。
本文在对数字高程模型以及数字等高线地图研究的基础上,采用数学形态学图像处理技术,对以等高线形式表示的障碍物图进行处理,从而得到航迹搜索空间。在此基础上,选用启发式最短路径搜索算法,在二维平面上搜索得到最短航迹。
对于三维航迹规划问题,本文采用分层策略,将三维空间航迹规划问题按照精度要求分解为多个二维平面,在各平面上分别得到可行航迹搜索区域,并进行水平栅格划分,然后将各高度层的可行航迹栅格组成三维可行航迹搜索空间,利用蚁群搜索算法,进行三维最短航迹搜索。
对于多机多目标的协同搜救问题,本文采用可行度评估方法,根据各目标点任务特点,评估其对于指定直升机的任务执行的可行度,然后将目标点任务指派给合适的直升机。将多机多目标协同问题简化为类似旅行商问题,采用遗传算法进行多目标点的航迹规划。
本文对于上述三种航迹规划问题,结合数字地图处理软件Global Mapper,均在MATLAB平台上进行了仿真实现,证明方法具有可行性。
Route planning is one of the key pre-flight preparations for the civil helicopters with the search and rescue missions. Especially in the complex mountainous terrain, it is often hard to find a proper route for the helicopters quickly. So the route planning problem for helicopter with rescue missions is proposed in the thesis, aiming at finding a proper route for the helicopters to fly safely and reach the destination in the shortest time.
Based on the study on the digital elevation model(DEM) and contour map, obstacle map in the form of the contour is processed using mathematical morphology image processing technology to get the route planning space. On this basis, the heuristic search algorithm is selected to search for the shortest path in the two dimensional space.
In the case of route planning in the three dimensional space, the space is divided into several levels with different altitude which decomposed the three dimensional planning space into many two dimensional planes according to the precision requirement. Feasible route area is acquired at each level. All the feasible grids on every level are then combined to compose the three dimensional planning space before the route planning using ant colony algorithm.
The multi targets search and coordination for multiple helicopters problem is also studied. First, according to the characteristic of mission on each target, the availability of the helicopter for the target is assessed, and then the missions on the targets are assigned to proper helicopters. At last, the multi targets route planning is transformed into travelling salesman problem and solved using generic algorithm.
Simulation results of all the approaches mentioned above are presented on the platform of MATLAB, with the help of digital map processing software Global Mapper. So the feasibility of these approaches is proved.
本文在对数字高程模型以及数字等高线地图研究的基础上,采用数学形态学图像处理技术,对以等高线形式表示的障碍物图进行处理,从而得到航迹搜索空间。在此基础上,选用启发式最短路径搜索算法,在二维平面上搜索得到最短航迹。
对于三维航迹规划问题,本文采用分层策略,将三维空间航迹规划问题按照精度要求分解为多个二维平面,在各平面上分别得到可行航迹搜索区域,并进行水平栅格划分,然后将各高度层的可行航迹栅格组成三维可行航迹搜索空间,利用蚁群搜索算法,进行三维最短航迹搜索。
对于多机多目标的协同搜救问题,本文采用可行度评估方法,根据各目标点任务特点,评估其对于指定直升机的任务执行的可行度,然后将目标点任务指派给合适的直升机。将多机多目标协同问题简化为类似旅行商问题,采用遗传算法进行多目标点的航迹规划。
本文对于上述三种航迹规划问题,结合数字地图处理软件Global Mapper,均在MATLAB平台上进行了仿真实现,证明方法具有可行性。
Route planning is one of the key pre-flight preparations for the civil helicopters with the search and rescue missions. Especially in the complex mountainous terrain, it is often hard to find a proper route for the helicopters quickly. So the route planning problem for helicopter with rescue missions is proposed in the thesis, aiming at finding a proper route for the helicopters to fly safely and reach the destination in the shortest time.
Based on the study on the digital elevation model(DEM) and contour map, obstacle map in the form of the contour is processed using mathematical morphology image processing technology to get the route planning space. On this basis, the heuristic search algorithm is selected to search for the shortest path in the two dimensional space.
In the case of route planning in the three dimensional space, the space is divided into several levels with different altitude which decomposed the three dimensional planning space into many two dimensional planes according to the precision requirement. Feasible route area is acquired at each level. All the feasible grids on every level are then combined to compose the three dimensional planning space before the route planning using ant colony algorithm.
The multi targets search and coordination for multiple helicopters problem is also studied. First, according to the characteristic of mission on each target, the availability of the helicopter for the target is assessed, and then the missions on the targets are assigned to proper helicopters. At last, the multi targets route planning is transformed into travelling salesman problem and solved using generic algorithm.
Simulation results of all the approaches mentioned above are presented on the platform of MATLAB, with the help of digital map processing software Global Mapper. So the feasibility of these approaches is proved.
引文
[1]中国地震局工程力学研究所,防灾减灾宣传[OL],http://www.iem.net.cn/zhxw/zt512a.htm
[2]范洪达,马向玲,叶文.飞机低空突防航路规划技术[M] .北京:国防工业出版社, 2007
[3]叶媛媛,闵春平,沈林成,等.基于VORONOI图的无人机空域任务规划方法研究[J].系统仿真学报,2005, 17(6): 1353-1356.
[4]刘森琪,段海滨,余亚翔.基于Voronoi图和蚁群优化算法的无人作战飞机航路规划[J].系统仿真学报,2008.11
[5]严平.无人飞行器航迹规划与任务分配方法研究[D].武汉:华中科技大学,2006
[6] Per Olof Pettersson. Helicopter Path Planning using Probabilistic Roadmaps [D]. Link?pings universitet, 2003
[7] T.Asano, L. Guibas,J. Hershberger, et al. Visibility-polygon search and Euclidean shortest path. In The proceedings of 26th Symposium on Founfations of Computer Science, Berkeley, CA, 1989, 155~164
[8]谢燕武,王伟,李爱军.基于有向图的动态最优航迹规划算法[J].测控技术,2006,25(10)
[9]王志科,朱凡,彭建亮.基于启发式A*算法的飞行器三维航路规划[J].电光与控制,2009,6
[10] J.Barraquand and J.-C.Latombe. Robot motion planning a distributed representation approach. International Journal of Robotics Research.1991,Vol.10(6):628~649.
[11]张建英,赵志萍,刘暾.基于人工势场法的机器人路径规划[J].哈尔滨工业大学学报, 2006,38(8):1306-1309
[12]陈冬,周德云,冯琦.基于粒子群优化算法的无人机航迹规划[J].弹箭与制导学报,2007:340
[13]杨华江,朱华勇,沈林成.一种基于Hopfield神经网络的TF/TA航迹规划算法.航空计算技术,2006,9
[14]王振华,章卫国,李广文.基于改进多目标蚁群算法的无人机路径规划[J].计算机应用研究,2009,6
[15]田亮,吴金荣,孙富春.基于遗传算法的飞行器多航迹规划[J].计算机工程与应用,2006,31
[16]周其忠,闫利,苏康,等.基于矢量数据的三维航迹规划方法[J].宇航学报,2006,7
[17]鲁艺,周德云.基于数学形态学的无人机航路规划方法研究[J].弹箭与制导学报,2006,26(1):677-680
[18] Jér?me Barraquand, Pierre Ferbach. Path Planning through Variational Dynamic Programming. Paris Research Laboratory of Digital Equipment Centre Technique Europe, 1993
[19] David Rathbun. Evolutionary app roaches to path planning through uncertain environments [A]. AIAA's 1st Technical Conference and Workshop on Unmanned Aerospace Vehicles [C]. Portsmouth Virginia, 2002.129.
[20] Ellips Masehian, Golnaz Habibi. Robot Path Planning in 3D Space Using Binary integer Programming[A].World Academy of Science, Engineering and Technology. 2007,29
[21]彭辉,沈林成,霍霄华.多UAV协同区域覆盖搜索研究[J].系统仿真学报,2007,6
[22]柳长安,王和平,李为吉.基于遗传算法的无人机协同侦察航路规划[J].飞机设计,2003,3
[23]彭辉,沈林成,朱华勇.基于分布式模型预测控制的多UAV协同区域搜索[J].航空学报,2010,3
[24] Koenig Sven,Liu Yaxin. Terrain Coverage with Ant Robots: A Simulation Study[C]. Proceedings of the Fifth International Conference on Autonomous Agents (AGENTS-01), Montreal, Canada: ACM Press, 2001: 600-607
[25] Butler Zack J, Rizzi Alfred A. Cooperative Coverage of Rectilinear Environments [C]. Proceedings of IEEE International Conference on Robotics and Automation, San Francisco: IEEE, 2000: 2722-2727.
[26] Hutchison Matthew G. A Method for Estimating Range Requirements of Tactical Reconnaissance UAVs[C]. AIAA's 1st Technical Conference and Workshop on Unmanned Aerospace Vehicles, Portsmouth, Virginia: AIAA, 2002.
[27] McLain Timothy W. A Decomposition Strategy for Optimal Coordination of Unmanned Air Vehicle [A ].Proceedings of the American Control Conference [C]. 2000 .
[28] Tom Schouwenaars,Andrew Stubbs,James Paduano,Eric Feron. Multi-Vehicle Path Planning for Non-Line of Sight Communication.
[29]左美蓉.?SRTM高程数据及其应用研究[D].?中南大学,2009,1
[30]何辉明.数字高程模型DEM的建模及其三维可视化研究[D].东南大学,2004,3
[31]雷磊.三维地形生成及可视化技术研究[D].哈尔滨工程大学,2005,1
[32]李清,侯永军,沈春林.数字地形数据的二维三次卷积插值[J].南京航空航天大学学报. 1997,8
[33] KML tutorial[EB\OL]. http://code.google.com/apis/kml/documentation/kml_tut.html
[34] Georges Matheron and Jean Serra. The Birth of Mathemstical Morphology[EB\OL].?http://cmm.ensmp.fr/~serra/pdf/birth_of_mm.pdf.
[35] P.Soille.形态学图像分析原理与应用[M].王小鹏等译.北京:清华大学出版社,2008:47-57
[36] Rafael C. Gonzalez, Richard E. Woods.数字图像处理[M].第二版.阮秋琦,阮宇智等译.北京:电子工业出版社,2007
[37]范洪达,马向玲,叶文.飞机低空突防航路规划技术[M].北京:国防工业出版社,2007
[38] Y.UNY CAO, Alex S.Fukunaga, Andrew B. Kahng. Cooperative Mobile Robotics: Antecedents and Directions[J]. Autonomous Robots, 4,1-23(1997)
[39]樊晓军,罗熊.复杂环境下基于蚁群优化算法的机器人路径规划[J].控制与决策,2004,19(2):166-170.
[40]潘卫军,陈通.?救援直升机航路规划研究[C].?第八届交通运输领域青年学术会议. 2009.10
[41]李志林,朱庆.数字高程模型[M],武汉:武汉大学出版社,2001.7
[42]唐泽圣.三维数据场可视化[M].北京:清华大学出版社,1999.12
[43] Andries.P. Engelbrecht.计算智能导论[M].谭营等译.北京:清华大学出版社,2010
[44]龚纯,王正林.精通MATLAB最优化计算[M].北京:电子工业出版社,2009 ?
[2]范洪达,马向玲,叶文.飞机低空突防航路规划技术[M] .北京:国防工业出版社, 2007
[3]叶媛媛,闵春平,沈林成,等.基于VORONOI图的无人机空域任务规划方法研究[J].系统仿真学报,2005, 17(6): 1353-1356.
[4]刘森琪,段海滨,余亚翔.基于Voronoi图和蚁群优化算法的无人作战飞机航路规划[J].系统仿真学报,2008.11
[5]严平.无人飞行器航迹规划与任务分配方法研究[D].武汉:华中科技大学,2006
[6] Per Olof Pettersson. Helicopter Path Planning using Probabilistic Roadmaps [D]. Link?pings universitet, 2003
[7] T.Asano, L. Guibas,J. Hershberger, et al. Visibility-polygon search and Euclidean shortest path. In The proceedings of 26th Symposium on Founfations of Computer Science, Berkeley, CA, 1989, 155~164
[8]谢燕武,王伟,李爱军.基于有向图的动态最优航迹规划算法[J].测控技术,2006,25(10)
[9]王志科,朱凡,彭建亮.基于启发式A*算法的飞行器三维航路规划[J].电光与控制,2009,6
[10] J.Barraquand and J.-C.Latombe. Robot motion planning a distributed representation approach. International Journal of Robotics Research.1991,Vol.10(6):628~649.
[11]张建英,赵志萍,刘暾.基于人工势场法的机器人路径规划[J].哈尔滨工业大学学报, 2006,38(8):1306-1309
[12]陈冬,周德云,冯琦.基于粒子群优化算法的无人机航迹规划[J].弹箭与制导学报,2007:340
[13]杨华江,朱华勇,沈林成.一种基于Hopfield神经网络的TF/TA航迹规划算法.航空计算技术,2006,9
[14]王振华,章卫国,李广文.基于改进多目标蚁群算法的无人机路径规划[J].计算机应用研究,2009,6
[15]田亮,吴金荣,孙富春.基于遗传算法的飞行器多航迹规划[J].计算机工程与应用,2006,31
[16]周其忠,闫利,苏康,等.基于矢量数据的三维航迹规划方法[J].宇航学报,2006,7
[17]鲁艺,周德云.基于数学形态学的无人机航路规划方法研究[J].弹箭与制导学报,2006,26(1):677-680
[18] Jér?me Barraquand, Pierre Ferbach. Path Planning through Variational Dynamic Programming. Paris Research Laboratory of Digital Equipment Centre Technique Europe, 1993
[19] David Rathbun. Evolutionary app roaches to path planning through uncertain environments [A]. AIAA's 1st Technical Conference and Workshop on Unmanned Aerospace Vehicles [C]. Portsmouth Virginia, 2002.129.
[20] Ellips Masehian, Golnaz Habibi. Robot Path Planning in 3D Space Using Binary integer Programming[A].World Academy of Science, Engineering and Technology. 2007,29
[21]彭辉,沈林成,霍霄华.多UAV协同区域覆盖搜索研究[J].系统仿真学报,2007,6
[22]柳长安,王和平,李为吉.基于遗传算法的无人机协同侦察航路规划[J].飞机设计,2003,3
[23]彭辉,沈林成,朱华勇.基于分布式模型预测控制的多UAV协同区域搜索[J].航空学报,2010,3
[24] Koenig Sven,Liu Yaxin. Terrain Coverage with Ant Robots: A Simulation Study[C]. Proceedings of the Fifth International Conference on Autonomous Agents (AGENTS-01), Montreal, Canada: ACM Press, 2001: 600-607
[25] Butler Zack J, Rizzi Alfred A. Cooperative Coverage of Rectilinear Environments [C]. Proceedings of IEEE International Conference on Robotics and Automation, San Francisco: IEEE, 2000: 2722-2727.
[26] Hutchison Matthew G. A Method for Estimating Range Requirements of Tactical Reconnaissance UAVs[C]. AIAA's 1st Technical Conference and Workshop on Unmanned Aerospace Vehicles, Portsmouth, Virginia: AIAA, 2002.
[27] McLain Timothy W. A Decomposition Strategy for Optimal Coordination of Unmanned Air Vehicle [A ].Proceedings of the American Control Conference [C]. 2000 .
[28] Tom Schouwenaars,Andrew Stubbs,James Paduano,Eric Feron. Multi-Vehicle Path Planning for Non-Line of Sight Communication.
[29]左美蓉.?SRTM高程数据及其应用研究[D].?中南大学,2009,1
[30]何辉明.数字高程模型DEM的建模及其三维可视化研究[D].东南大学,2004,3
[31]雷磊.三维地形生成及可视化技术研究[D].哈尔滨工程大学,2005,1
[32]李清,侯永军,沈春林.数字地形数据的二维三次卷积插值[J].南京航空航天大学学报. 1997,8
[33] KML tutorial[EB\OL]. http://code.google.com/apis/kml/documentation/kml_tut.html
[34] Georges Matheron and Jean Serra. The Birth of Mathemstical Morphology[EB\OL].?http://cmm.ensmp.fr/~serra/pdf/birth_of_mm.pdf.
[35] P.Soille.形态学图像分析原理与应用[M].王小鹏等译.北京:清华大学出版社,2008:47-57
[36] Rafael C. Gonzalez, Richard E. Woods.数字图像处理[M].第二版.阮秋琦,阮宇智等译.北京:电子工业出版社,2007
[37]范洪达,马向玲,叶文.飞机低空突防航路规划技术[M].北京:国防工业出版社,2007
[38] Y.UNY CAO, Alex S.Fukunaga, Andrew B. Kahng. Cooperative Mobile Robotics: Antecedents and Directions[J]. Autonomous Robots, 4,1-23(1997)
[39]樊晓军,罗熊.复杂环境下基于蚁群优化算法的机器人路径规划[J].控制与决策,2004,19(2):166-170.
[40]潘卫军,陈通.?救援直升机航路规划研究[C].?第八届交通运输领域青年学术会议. 2009.10
[41]李志林,朱庆.数字高程模型[M],武汉:武汉大学出版社,2001.7
[42]唐泽圣.三维数据场可视化[M].北京:清华大学出版社,1999.12
[43] Andries.P. Engelbrecht.计算智能导论[M].谭营等译.北京:清华大学出版社,2010
[44]龚纯,王正林.精通MATLAB最优化计算[M].北京:电子工业出版社,2009 ?