在线自主航迹规划是无人机(Unmanned Aerial Vehicles,UAV)执行区域目标搜索任务的有效保证.针对UAV区域搜索中航迹规划的实时性要求,提出了一种固定搜索模式和动态搜索模式相结合的UAV自主航迹规划框架.在快速扩展随机树(RRT)方法的基础上,通过改进随机扩展树的节点选择和引入启发式信息,提出了基于改进RRT的UAV实时搜索航迹规划算法,该算法能够有效降低在线航迹规划的时间代价和扩展节点数.仿真实验结果验证了本文方法的有效性.%On-line Autonomous Route Planning is the prerequisite for Unmanned Aerial Vehicles (UAVs) to perform area search mission effectively. Firstly, to satisfy the real-time requirement of UAV search path planning, an autonomous route planning hamework which integrates fixed search mode with dynamic search mode is presented. Then, based on basic Rapidly-exploring Random Tree rn(RRT), a modified RRT-based UAV route planning algorithm is propesed. The modified RRT method has introduced heuristic information, and improved the extension of RRT node, which can reduce the node number in a search tree and time cost. Simulation results demonstrate that the method is real-time and effective.
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