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Method for planning and deciding path of aircraft around multiple no-fly zones

A path planning and decision-making method technology, applied in the aerospace field, can solve problems such as the inability to provide alternatives, the inability to reflect the size of the control force, and the difficulty in formulating a path decision-making plan, achieving scientific methods, wide application value, and scalability strong effect

Active Publication Date: 2021-01-01
BEIHANG UNIV
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Problems solved by technology

However, the existing path planning, path search and optimization methods, such as A* algorithm, particle swarm algorithm, etc., are not suitable for high-speed and difficult-to-control aircraft, cannot reflect the size of the control force, and can only find an optimal solution / The local optimal solution cannot provide alternatives, and it is difficult to formulate a complete and reasonable path decision-making plan

Method used

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  • Method for planning and deciding path of aircraft around multiple no-fly zones
  • Method for planning and deciding path of aircraft around multiple no-fly zones
  • Method for planning and deciding path of aircraft around multiple no-fly zones

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Embodiment Construction

[0037] The present invention will be further described in detail below in conjunction with the accompanying drawings and examples of implementation.

[0038] The present invention is a method for path planning and decision-making of an aircraft around multiple no-fly zones, the flow chart of which is as follows figure 1 As shown, it includes the following steps:

[0039] Step 1. Establish a directed graph model;

[0040] The purpose of this step is to carry out environmental modeling, that is, to abstract the actual physical space into an abstract space that can be handled by the path planning method, that is, first expand the no-fly zone, establish a coordinate system and calibrate the position of the no-fly zone. Here, the method is based on graph theory for modeling.

[0041] Incorporate no-fly zones first. In the actual mission environment of the aircraft, there may be overlapping areas between the no-fly zones, or because the distance between the no-fly zones is too sh...

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Abstract

The invention provides a method for planning and deciding a path of an aircraft around multiple no-fly zones. The method comprises the following steps of 1, establishing a directed graph model; 2, traversing all paths from a starting point to an end point; 3, planning a path and designing a path evaluation index; 4, making a path decision scheme. Through the above steps, the directed graph model can be constructed based on the graph theory, the path planning and decision making of the aircraft around multiple no-fly zones are achieved, the problems of fusing on guidance and neglecting planningexisting at present are solved, and multiple feasible schemes can be provided for aircraft guidance. The method is scientific, is good in manufacturability and has wide application and popularizationvalue.

Description

technical field [0001] The present invention is a method for establishing an environment model based on graph theory, planning a feasible path, and evaluating the maneuverability requirements of an aircraft according to the path for multiple no-fly zone environments, and finally formulating a path decision-making scheme, which belongs to aerospace; guidance , Navigation and control technology; Path decision planning field. Background technique [0002] Path planning was initially widely used in the research of mobile robots. With the continuous expansion of the application field of unmanned equipment, such as in practical applications such as marine science, industrial sites and military operations, relevant research on path planning has gradually been applied to unmanned vehicles. , unmanned boats and various types of aircraft, has become one of the research hotspots and difficult issues in various fields. The flight of an aircraft must meet complex constraints, including ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/12
CPCG05D1/12
Inventor 李惠峰张源张冉师鹏
Owner BEIHANG UNIV
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