【路径规划】基于快速行军树实现风场下无人机航迹规划附matlab代码

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智能优化算法       神经网络预测       雷达通信       无线传感器         电力系统

信号处理               图像处理               路径规划       元胞自动机         无人机

⛄ 内容介绍

Engine failures are a large cause of concern for mission planners when dealing with the  operation of Unmanned Aerial Vehicles (UAVs). This is primarily due to the lack of a skilled  pilot on-board who can deal with the resulting loss of control by assessing the environment  around them to perform an emergency landing. This has recently become a growing issue due  to the fact UAVs are seeing a huge rise in use ranging from a plethora of civilian and military  applications. With more UAVs in operation, the chances of a crash landing or collision from  a loss of control increase. Therefore an autonomous system which will allow the vehicle to  land safely is highly desirable. The challenge is to produce dynamically feasible routes for  the unpowered UAV, which consider spatial constraints from a complex obstacle space, as  well as temporal constraints for landing in pre-defifined safety zones. This chapter will begin  with the motivation and inherent diffiffifficulty in solving such a problem, followed by a brief  description of the proposed solution.

⛄ 部分代码

%% generateRoadmap.m                

function [nodes, distMatrix, heuristic] = generate_roadmap(npoints,radius,init,final,obs,radius_obstacle,zone)

    nodes = [init,final,zone];

    distMatrix = zeros(npoints); 

    heuristic = zeros(1,npoints); 

    heuristic(1) = norm(final-init);

    heuristic(2) = 0;

    offset = 2+length(zone);

    for i = 1 : npoints-offset       

        while true

            new = init(1)+(final(1)-init(1))*abs(rand(2,1));

            if collision_test(new,obs,radius_obstacle)

                break;

            end

        end

        heuristic(i+offset) = norm(new-final);

        nodes = [nodes, new];

        [idx, D] = rangesearch(nodes’, new’, radius);

        idx = idx{1};

        if length(idx) == 1

            continue;

        end

        D = D{1};

        for k = 2 : length(idx) 

            if edge_test(new,nodes(:,idx(k)),obs,radius_obstacle);

                plot([nodes(1,end), nodes(1,idx(k))], [nodes(2,end), nodes(2,idx(k))], ’c’, ’linewidth’, 0.5); % plot the edge

                distMatrix(length(nodes),idx(k)) = D(k); % add in symmetric positions in distMatrix

                distMatrix(idx(k),length(nodes)) = D(k);

            end

        end 

    end    

end

⛄ 运行结果

⛄ 参考文献

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