無人飛行器航路規劃研究

本論文主要進行同空域多架無人飛機任務航路規劃研究，研究問題僅探討平面航路規劃，針對任務環境中可能危害飛行安全的環境障礙進行閃避，無人飛機由任務起始點穿越障礙區域，並分別進入各自指定目標點執行任務。此研究並可於未來考量禁航空域條件以進一步提供無人飛機進入民航空域時之基本安全保障。本研究利用幾何Voronoi多邊形圖將操作空域中可能影響飛行安全之環境障礙物進行區分及排除，航路中其環境障礙物多為高高度之山脈或高層建築，以其劃分威脅區之邊界產生無人飛機可能之航路，進一步運用Dijkstra演算法進行最佳路徑搜索，最後引入飛行器性能限制針對規劃後之折線型航路進行平滑化。本研究運用數值模擬方法成功驗證此航路規劃技術的可行性，所獲得的結果儘管不是最優，但卻可將搜索範圍從無限空間簡化為有限空間，大大降低計算量。

關鍵字

航路規劃；無人飛機；最佳路徑； Voronoi 圖； Dijkstra演算法

並列摘要

This thesis mainly aims at the study of trajectory planning for multiple UAVs within the same airspace. This study is confined in two-dimensional flight trajectories which evite the collision with potential obstacles in the mission environment. UAVs are designated to fly from the start points to the targets by penetrating the risky airspace with barriers. This study is expected to ensure basic safety for the entry of UAVs into the civil airspace concerning the condition of restricted or inhibited area. The Voronoi diagram is adopted to classify the obstacles in airspace, such as the mountains or the gratte-ciels over the UAV's operational altitude. Then the borders between obstacles can be the feasible flight routes of connected straight lines. The optimal routes is subsequentially determined by using Dijkstra algorithm. UAVs' performance is also introduced to smooth the flight routes. The feasibility of the proposed trajectory planning technique for UAVs verified by numerical simulation. The resultant trajectories are not the optimal ones, but it can reduce and confine the space of feasible routes to reduce the computational load in large.

並列關鍵字

UAV ； trajectory planning, Voronoi diagram ； Dijkstra algorithm

參考文獻

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[5]R. J. SZCZERBA, “Robust Algorithm for Real-Time Route Planning”, IEEE Transactions on Aerospace and Electronic Systems, vol.36(3), pp. 869-878, 2000.

[6]A. S. Kumar, “Intelligent Transport Route Planning Using Genetic Algorithms in Path Computation Algorithms’, European Journal of Scientific Research, vol. 25(3). pp. 463-468, 2009.

[9]J. Redding, “A Real-Time Obstacle Detection and Reactive Path Planning System for Autonomous Small-Scale Helicopters,” American Institute of Aeronautics and Astronautics, pp.20-23, Aug., 2007.

國際替代計量

無人飛行器航路規劃研究

未授權

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