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关于优化无人机覆盖路径规划,应便于实时调整航路。实施战场游弋侦察的无人机要搜索含有先验信息的任务区域,并且没有确定的目标点。针对战场环境瞬息万变,提出了网格模型的航路规划方法。首先,将无人机的任务环境区域划分为若干网格单元,并根据存在目标的概率赋予网格单元权值。接着,依据航路决策集合建立了控制模型,根据探测区域对环境网格的覆盖情况建立了探测模型,采用控制和探测模型计算有限步长内的航路价值,通过求解一个动态规划得到当前状态下的最优航路决策。最后通过对一架和多架无人机侦察给定区域的仿真,验证了方法的有效性,为设计航路提供了科学参考。
On the optimization of UAV coverage path planning, should be easy to adjust routes in real time. UAVs that conduct battlefield cruising reconnaissance search the mission area that contains priori information and have no definitive target points. In view of the rapidly changing battlefield environment, a route planning method of grid model is proposed. First, the UAV mission environment area is divided into a number of grid cells, and according to the existence of the target probability given grid cell weights. Then, the control model is established according to the route decision collection, and the detection model is established according to the coverage of the environment grid in the detection area. The control and detection model is used to calculate the route value in the limited steps. By solving a dynamic programming, Optimal routing decision. Finally, the simulation of the given area of one or more UAVs is carried out to verify the effectiveness of the method and provide a scientific reference for the design of the route.