文档介绍：华中科技大学硕士学位论文基于航迹片段的航迹重组技术研究姓名:江磊申请学位级别:硕士专业:模式识别与智能系统指导教师:蔡超 2011-01-14 华中科技大学硕士学位论文 I 摘要航迹规划是任务规划系统的核心功能,是实现无人飞行器自动导航的关键技术。基于航迹片段的航迹规划方法是在传统的路线图和单元分解的基础上提出的一种新的规划方法。该方法采用分阶段规划方式, 第一阶段进行航迹片段的构造,生成一个由航迹片段构成的网络图;第二阶段根据特定规划任务,利用第一阶段构造的航迹片段网络快速重组出满足特定条件的航迹。在规划好的网络图上进行路径搜索的实时性较好,能够满足航迹规划的实时性要求。本论文提出了两种航迹重组技术,并在基于航迹片段的航迹规划系统中进行了实现。本论文首先结合国内外研究现状,分析了基于航迹片段的航迹重组的目的和意义。接着介绍了基于航迹片段的航迹规划方法的思想和主要内容,重点介绍了航迹片段网的构造,分析了航迹片段的组织和存储方式,为航迹重组做数据准备。对基于 A* 算法的航迹重组技术进行研究,结合多层次网格上的航迹片段网的特性,将 A* 算法用于基于航迹片段的航迹重组。然后提出一种基于遗传算法的航迹重组技术,对编码方式和遗传算子进行了改进,使其适用于网络图上的航迹搜索,根据航迹规划的要求给出了合适的适应度函数和终止条件。最后对基于航迹片段的航迹重组方法进行应用分析,通过本文方法与传统航迹规划方法相比,以及本文两种方法的比较,分析了两种航迹重组技术的优缺点和适用环境。关键词: 航迹重组, A* 算法,遗传算法,航迹片段华中科技大学硕士学位论文 II Abstract Route planning is a core f unction of mission planning sy stems, a key technique of unmanned aerial vehicles’ automatic navi gation. The route planning method based on route segments is proposed based on th e traditional roadmap method and cell position method. This method uses phased planning, the first phase is construction of route segments, to generate work c onstituted of route se gments; the second phase is to anize routes conformed speci fic conditions, use the segments which were constructed in the first phase, for specific pl anning tasks. The route searching work is real-time, can satisfy the time conditions of route planning. In this paper, two kinds of route anization technol ogies are proposed, and implemented in the route planning system based on route segments. Firstly, this paper analysis the purpose and significance of route anization, combined with the research situation. Th en introduce the thought and main content of route planning method based on route segmen t, focus on the construction of route segments, analysis the structur e of route segments to prepar e for the route anization. In the research of route anization technology based on A* algorithm, this bine with the feature of multi-tier gr ids’ network, use A* algorithm in route anization. Then a route ani