Feedback fuzzy inference-based unmanned plane real-time route planning method

A technology of fuzzy reasoning and route planning, applied in fuzzy logic-based systems, logic circuits, integrated navigators, etc., can solve problems such as reducing the effect of route planning, providing reference experience, and the lack of learning ability of drones

Inactive Publication Date: 2011-02-02
BEIHANG UNIV
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Problems solved by technology

This is reflected in the real-time route planning of UAVs. The flight in front of UAVs cannot provide reference experience for subsequent flights. The cu

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  • Feedback fuzzy inference-based unmanned plane real-time route planning method
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  • Feedback fuzzy inference-based unmanned plane real-time route planning method

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Embodiment Construction

[0157] Reasonable modeling of the airspace where UAVs perform missions is the primary condition for route planning. Before the implementation of the present invention, it is necessary to first model the threat environment, that is, construct a threat distribution map. The present invention adopts the method proposed by Keim et al. (see the document "Real-time Route Planning of Unmanned Aerial Vehicles Based on Limited Information", Automation Volume 44 (2008), 696-712) to construct a threat distribution map. It should be pointed out that the route planning method proposed by the present invention is not only applicable to this threat environment modeling method, but also applicable to other similar threat environment modeling methods.

[0158] Assuming that there are M fixed threat bodies in the considered airspace (if the threat body is a radar, it means that its position and detection intensity do not change with time), T 1 ,T 2 ,...,T M . If a single threat body T i (i...

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Abstract

The invention relates to a feedback fuzzy inference-based unmanned plane real-time route planning method. The method comprises the following steps of: 1, updating a mode of the unmanned plane route; 2, establishing a fuzzy rule base; 3, acquiring a fuzzy antecedent; 4, designing a feedback fuzzy inference method; 5, defuzzifying; 6, determining other parameters; 7, determining the next position of the unmanned plane; and 8, completing the design. Compared with the conventional unmanned plane real-time route planning method, the method ensures that the unmanned plane has primary independent studying capability by applying the feedback fuzzy inference method so as to improve the route planning effect. The real-time route planning method designed according to the method has the advantages of short route, smooth path, global astringency and easy implementation, and is a more practical and reliable unmanned plane real-time route planning method for engineering application.

Description

technical field [0001] The invention relates to a real-time route planning method for an unmanned aerial vehicle, in particular to a real-time route planning method for an unmanned aerial vehicle based on feedback fuzzy reasoning. This method belongs to the field of artificial intelligence. Background technique [0002] The environment in which UAVs perform missions is mainly a hostile environment or a war environment, which has a high degree of uncertainty. UAV route planning in a threat environment is a key problem to be solved by military UAVs. UAV real-time route planning is in this uncertain threat environment, by obtaining the environmental information of the current position, while considering its own performance constraints, so as to make a decision to reach the next position, thus forming a route according to a certain performance The safe path with the optimal or nearly optimal index finally reaches the given goal. In order for the UAV to successfully avoid the ...

Claims

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Application Information

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IPC IPC(8): G06N7/02G01C21/24
Inventor 郑征林树民蔡开元
Owner BEIHANG UNIV
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