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为了提高无人机的作战效率,航迹规划系统必须为无人机设计出安全系数高,能量消耗少,处理时间短,同时还必须满足飞行器自身物理特性的威胁回避轨迹。基于上述研究目的,本文选择快速随机搜索树算法(RRT)作为迹规划航算法主体,结合Dijkstra算法改进了RRT算法,完成最小航迹代价飞行轨迹的设计。
In order to improve the combat efficiency of the UAV, the trajectory planning system must design a threat-avoidance trajectory with high safety factor, less energy consumption and short processing time for the UAV, and also must meet the physical characteristics of the aircraft. For the purpose of the above research, this paper selects fast random search tree algorithm (RRT) as the main body of trajectory planning algorithm, combined with Dijkstra algorithm to improve the RRT algorithm to complete the design of the minimum trajectory cost trajectory.