【摘要】 在分析VORONOI图的性质与威胁代价函数的基础上,针对航路的初始规划提出了一种先局部优化后进行全局优化的算法,从而避免在航路全局优化时陷入局部极小点的危险。通过对一个简单算例的分析,阐述了这种规划方法的合理性和快速性,给出了其对应的伪代码。它可对其他各种航路规划算法的边界条件进行初始预处理,快速确定初始可选航路集的解,缩短航路规划的时间;针对某阵地航路规划的仿真结果表明了该算法的有效性,初始的航路集有效地避开了威胁配置较密集的地方,同时尽量以较短的航路接近目标。更多还原

【Abstract】 On the basis of analyzing VORONOI Diagrams’ attributes and the penalty function of the threat of the sides,a method of local optimize first and then global optimize is proposed to plan the initial path of the UAVs,which can avoid the arithmetic fall into the local minimum while optimizing of global.A simple example is analyzed to show that the planning method is rational and fast,and the pseudo codes are provided.This method can be applied in initial processing of different arithmetic in the path planning and shorten the time of computing,so it is especial useful in the situation which requires real-time path planning and in the situation of pop-up threats.The final simulation result of path planning of certain position under the radar net show that the method is effective,and the initial path sets can effective escape form the dens radar net and select its shortest path to approach the target.更多还原