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首页> 外文期刊>Journal of guidance, control, and dynamics >Energy-Based Long-Range Path Planning for Soaring-Capable Unmanned Aerial Vehicles
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Energy-Based Long-Range Path Planning for Soaring-Capable Unmanned Aerial Vehicles

机译：高能无人机的基于能量的远程路径规划

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摘要

To enable long-distance, long-duration flights by small soaring-capable uninhabited aircraft, a graph-based method for planning energy-efficient trajectories over a set of way points is presented. It introduces the energy map, which is an upper bound on the minimum energy required to reach a goal from anywhere in the environment while accounting for arbitrary three-dimensional wind fields. The energy map provides the path to the goal as a sequence of waypoints, the optimal speeds to fly for each segment between waypoints, and the heading required to fly along a segment. Trajectories computed using the energy map are compared with trajectories planned using an A~*-based approach. Results are presented for simple wind fields representative of orographic lift. Finally a high-fidelity numerical simulation of a realistic wind field (ridge lift and wave over complex terrain) is used as a test case. The energy-map approach is shown to perform very well without the need for the heuristics associated with A~*.
机译：为了能够由能够飞腾的小型无人驾驶飞机进行长距离，长距离飞行，提出了一种基于图的方法来规划一组航路点上的节能轨迹。它介绍了能量图，这是在考虑任意三维风场的情况下从环境中的任何位置达到目标所需的最小能量的上限。能量图以一系列航点的形式提供到达目标的路径，航点之间每个航段的最佳飞行速度以及沿着航段飞行所需的航向。将使用能量图计算的轨迹与使用基于A〜*的方法计划的轨迹进行比较。给出了代表地形升力的简单风场的结果。最后，将真实风场的高保真数值模拟（复杂地形上的山脊升力和波浪）用作测试案例。能量图方法显示出非常好的性能，而无需与A〜*相关的启发式方法。

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