本文選題：無人機 + 路徑規(guī)劃��； 參考：《南京理工大學》2017年碩士論文

【摘要】：近年來,隨著無人機技術(shù)的飛速發(fā)展,無人機已經(jīng)廣泛應用于軍事和民用領(lǐng)域。無人機應用場景環(huán)境的逐漸復雜使得無人機路徑規(guī)劃顯得愈發(fā)重要,而在大范圍的應用場景中則還需要多架次無人機進行協(xié)同路徑規(guī)劃。對于無人機協(xié)同路徑規(guī)劃算法的研究非常多,并且也取得了顯著的成果,而對于協(xié)同路徑規(guī)劃結(jié)果驗證的研究則還比較欠缺。采用真實無人機對航線進行驗證則存在成本高、風險大等問題,傳統(tǒng)的基于圖表、曲線的二維航跡仿真系統(tǒng)也無法滿足飛速發(fā)展的無人機應用需求。論文以某無人機偵察系統(tǒng)總體方案論證為需求背景,針對當前無人機路徑規(guī)劃研究在規(guī)劃結(jié)果仿真驗證和三維可視化方面的不足,研究和實現(xiàn)了一種無人機協(xié)同路徑規(guī)劃三維實時可視化仿真平臺。構(gòu)建了三維地形仿真環(huán)境并且對目標區(qū)域地形進行網(wǎng)格劃分和面積計算;采用虛擬相機對無人機載荷偵照波束進行建模,基于圖形硬件實現(xiàn)偵照波束與三維地形的快速求交;基于多邊形填充算法查找被偵照地形范圍,并且記錄和統(tǒng)計地形被偵照的相關(guān)信息;最后通過色溫圖的方式直觀地展示無人機在指定航線下對地形的偵照分布情況。通過仿真平臺的實際運行,證明該仿真平臺為傳統(tǒng)協(xié)同路徑規(guī)劃提供了一種實用的三維可視化仿真驗證手段。
[Abstract]:In recent years, with the rapid development of UAV technology, UAV has been widely used in military and civilian fields. UAV path planning is becoming more and more important due to the complexity of UAV application environment, and collaborative path planning of UAV is also needed in a wide range of application scenarios. There are many researches on collaborative path planning algorithms for UAVs, and remarkable results have been achieved, but the research on the verification of collaborative path planning results is still lacking. Using real UAV to verify the route has many problems, such as high cost and high risk. The traditional two-dimensional track simulation system based on charts and curves can not meet the requirements of the rapid development of UAV applications. Based on the demonstration of the overall scheme of a UAV reconnaissance system, this paper aims at the deficiency of the current UAV path planning research in the planning results simulation verification and 3D visualization. A three-dimensional real-time visual simulation platform for cooperative path planning of UAV is studied and implemented. The 3D terrain simulation environment is constructed, the terrain of the target area is divided and the area is calculated, the virtual camera is used to model the payload beam of UAV, and the fast intersection between the beam and 3D terrain is realized based on the graphic hardware. Based on the polygon filling algorithm, the range of the detected terrain is found, and the relevant information of the detected terrain is recorded and counted. Finally, the aerial vehicle's illumination distribution of the terrain under the specified route is visually displayed by the way of color temperature map. Through the actual operation of the simulation platform, it is proved that the simulation platform provides a practical 3D visual simulation verification method for the traditional collaborative path planning.
【學位授予單位】：南京理工大學
【學位級別】：碩士
【學位授予年份】：2017
【分類號】：V279

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