文档介绍：南京航空航天大学
硕士学位论文
无人机任务规划技术研究
姓名:张昉
申请学位级别:硕士
专业:控制理论与控制工程
指导教师:王道波
20090101
南京航空航天大学硕士学位论文
摘要
本文研究的是无人机在战场环境下的任务规划技术。任务规划的目标是综合多种因素,根
据每架飞机执行每个任务的代价值,合理分配飞机的载荷任务,以达到飞机完成任务收益值最
大、代价值最小的要求。
文章主要从任务规划模型,任务分配和航路规划三方面进行研究。首先应用混合系统理论
对任务规划建模问题进行了研究,分析了无人机任务规划系统的性质特点,对无人机任务规划
混合自动机的结构机理进行了研究,并在此基础上分析了无人机任务分配与协调混合自动机及
无人机飞行状态混合自动机的原理,完成了任务规划问题的系统建模;其次对任务分配子问题
进行了分析研究,根据任务分配问题的模型选定粒子群算法作为研究手段,并利用粒子群算法
对各种不同情况下的任务分配问题进行了数学仿真;最后对航路规划子问题进行了研究,进行
了基本粒子群算法下的航路规划仿真,并针对粒子群算法下的航路穿越威胁区的问题提出了所
谓的“威胁感知法”,较为有效的解决了此问题,进一步提出了基于 B 样条拟合的粒子群优化
算法,解决了航路光顺问题,避免了传统的先优化后拟合的方法存在的拟合后适应度变化引起
的航路不合格问题。
关键词:任务规划,任务分配,航路规划,无人机,混合自动机,粒子群算法,B 样条,仿真
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无人机任务规划技术研究
ABSTRACT
In this paper, the technology of unmanned air vehicle (UAV) mission planning in battlefield
environment is researched. The goal of mission planning is collecting as much as factors to assign
each task to each aircraft reasonably, according to the value of each aircraft’s each task to achieve
maximum profit with minimum value of the mission.
The research is mainly based on three aspects: mission planning modeling, task allocation and
path planning. At first, the mission planning modeling problem with hybrid system theory is studied,
and the characteristics of the UAV mission planning system is analyzed, the structural mechanism of
UAV mission planning hybrid automata is also researched. Based on this, the principle of UAV task
allocation and coordination hybrid automata and UAV flying state hybrid automata is analyzed, and
the system modeling of UAV mission planning is plished. At second, this paper analyses the
UAV task allocation problem, the particle swarm optimization is selected as main method to research
the question, and the mathematical simulation for task allocation problem in several cases is finished
with particle swarm optimization. At third, this paper analyses the UAV path planning problem, and
the mathematical simulation for path planning is plished with