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首页> 外文期刊>Journal of aerospace engineering >Fuzzy Behavior-Based Online Command Generation for Unmanned Aircraft Guidance in Rough Terrain Environments
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Fuzzy Behavior-Based Online Command Generation for Unmanned Aircraft Guidance in Rough Terrain Environments

机译：地形环境下基于模糊行为的无人机制导在线指令生成

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This research is aimed at developing an efficient online path planner for unmanned air vehicle guidance in completely unknown three-dimensional (3D) rough terrain environments. A novel algorithm is proposed that directly incorporates the vehicle dynamics in the guidance strategy. A suitable point mass dynamic model is also developed. The flight path forms gradually as a result of applying the guidance commands to the vehicle dynamics. A key feature of this approach is real-time assessment of terrain characteristics and using this information in the guidance procedure. The problem is considered within a fuzzy behavior-based framework. The guidance algorithm uses acquired information from the onboard sensors and rapidly issues commands that will guide the vehicle safely to an intermediate position within the sensor range. Two behaviors are introduced: go to target and 3D terrain following/terrain avoidance. The issued commands are then integrated with adjustable weighting factors. Simulation results demonstrate a significant enhancement in vehicle autonomy level. Intelligent decision-making capability afforded by this approach allows for autonomous and safe low-level flight in mountainous areas. (C) 2017 American Society of Civil Engineers.
机译：这项研究旨在开发一种高效的在线路径规划器，用于在完全未知的三维（3D）崎terrain地形环境中进行无人机导航。提出了一种新颖的算法，将车辆动力学直接纳入制导策略。还开发了合适​​的点质量动力学模型。通过将引导命令应用于车辆动力学，飞行路径逐渐形成。这种方法的主要特征是实时评估地形特征，并在指导程序中使用此信息。在基于模糊行为的框架内考虑该问题。引导算法使用从车载传感器获取的信息并快速发布命令，这些命令将把车辆安全地引导到传感器范围内的中间位置。引入了两种行为：转到目标和3D地形跟踪/避免地形。然后将发出的命令与可调整的加权因子集成在一起。仿真结果表明，车辆自主性水平显着提高。这种方法提供的智能决策能力允许在山区进行自主和安全的低空飞行。 （C）2017年美国土木工程师学会。

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