摘 要

本文首先通过数字地图模拟技术建立无人机在山区飞行的航迹模型，以无人机的最高安全飞行高度为界限，区别禁飞区域和飞行区域，从而将地图区域进行合理分解，分成一个个子目标点。对这些字目标点使用K-means聚类，采用离散型Hop-field神经网络对聚类后的同种子目标点进行路径规划。验证了无人机巡航范围的覆盖率是切实可行的。对多无人机同时集结问题，先进行研究分析。随后深入考虑定向A*算法结合PSO算法的可能性，以这种混合算法，对无人机先生成预计可飞的预航迹规划。之后在多无人机同时集结时，以各自航程差在一定范围内作为同时集结的标准，论述了变步长多点搜索、三维盘旋机动、虚拟威胁三种分步再规划算法，并通过仿真实验，让多无人机同时集结目标附近。

关键词：无人机；K-means算法；Hop-field神经网络；定向A*算法；PSO算法；路径规划

Abstract

In this paper, we first establish the track model of UAV flying in mountain area by digital map simulation technology, take the maximum safe flight altitude of UAV as the limit, distinguish the no-fly area from the flight area, and then decompose the map area reasonably and divide it into a sub-target point. Using K-means clustering for these word target points, a discrete Hop-field neural network is used to map the same seed target points after clustering. verified that the coverage of UAV cruise range is feasible. The problem of multi-UAV assembly is studied and analyzed first. Then consider the orientation A* algorithm combined with PSO algorithm Possibility, with this hybrid algorithm, for Mr. UAVs into an expected flightable pre-track planning. Then, when the multi-UAV is assembled at the same time, using their range difference as the standard of simultaneous assembly, three step-by-step re-planning algorithms are discussed.

Key Words：UAV; Hop-field Neural Network; Directed A* Algorithm;PSO Algorithm;Path planning

目录

第1章 绪论 6

1.1研究背景和意义 6

1.2国内外研究现状 7

1.3课题主要研究内容...................................................................................................................................7

第2章 地图模型的建立...................................................................................................................................8

2.1 数字地图概述..........................................................................................................................................8

2.2地图模型数字模拟...................................................................................................................................8

2.3目标区域和禁飞区域的模型...................................................................................................................9

2.3.1 目标区域的建立...................................................................................................................................9

2.3.2 禁飞区域的建立...................................................................................................................................9

2.4 本章小节.................................................................................................................................................10

第3章 无人机航迹规划问题分析与模型建立..............................................................................................11

3.1无人机航迹规划问题分析......................................................................................................................11

3.2无人机航迹规划模型构建......................................................................................................................11

3.3 本章小结 .................................................................................................................................................12

第4章 无人机航迹规划算法..........................................................................................................................13

4.1 目标点的聚类算法.................................................................................................................................13

4.1.1 区域分解..............................................................................................................................................13

4.1.2 K-means聚类........................................................................................................................................13

4.2 Hop-field神经网络..................................................................................................................................14

4.3仿真实例...................................................................................................................................................15

4.4 本章小节..................................................................................................................................................15

第5章多无人机同时集结的航迹规划问题....................................................................................................17

5.1 多无人机集结研究现状.............................................................................................................................17

5.2 多无人机同时集结问题模型.....................................................................................................................17

5.3 定向A*算法的多无人机同时集结分布策略结合PSO算法..................................................................18

5.3.1定向A*算法...........................................................................................................................18

5.3.2 PSO算法....................................................................................................................................................19

5.4 变步长多点搜索算法..................................................................................................................................20

5.5 三维盘旋机动算法2...................................................................................................................................21

5.6 虚拟威胁算法..............................................................................................................................................23

第6章 算法仿真分析...................................................................................................................................... 24