基于动态流体扰动原理的三维滚动航路规划
Three-dimensional rolling path planning via dynamic fluid disturbance

摘要 针对复杂环境中存在运动目标、移动威胁与突发威胁等多种情况,将动态流体扰动算法与滚动优化策略相结合,进行无人机(UAV)三维动态航路规划.基于移动目标运动信息与威胁运动信息引入相对初始流场,用扰动矩阵量化表示障碍物或威胁对相对初始流场的扰动影响,计算相对扰动流场,进而得到实际流场流线即无人机规划航路.充分利用实时环境信息,综合考虑未来运动态势,在有限时域内采用动态流体扰动算法规划出可选航路,然后构建目标函数,滚动优化反应系数,实现在线航路规划.仿真结果表明,该算法能较好地适用于复杂动态环境.
Abstract：Considering the existence of moving target, moving threat and emergent threat in complex environment, the method of dynamic fluid disturbance and the rolling optimization strategy were combined for the three-dimensional dynamic path planning of unmanned aerial vehicle (UAV). Based on the motion information of moving target and threat, the relative initial fluid was constructed. Then, the influence of obstacles or threats on the relative initial fluid was quantized by the disturbance matrix. The relative modified flow was then obtained by modulation. Then the actual streamline which was the planning path, was easily accomplished. By fully utilizing the real-time environmental information and considering the motion in the future, the method of dynamic fluid disturbance was utilized to plan local path in limited time-domain. And the objective function was built and the reactive parameter was obtained by rolling optimization to realize the online path planning. Finally, the effectiveness of the method in complex dynamic environment is indicated.