基于事件触发的时变风场下无人机实时路径重规划策略
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V279;TP242.6

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Real-time path replanning strategy for UAVs in time-varying wind fields based on event-triggered mechanism
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    摘要:

    针对无人机在飞行过程中受时变风场影响导致的能耗和飞行状态变化问题, 提出一种基于事件触发机制的实时路径重规划策略. 首先, 采用改进的粒子群优化(IPSO)算法进行路径规划, 并通过评估不同风场下规划路径的相似度量化风场变化对规划路径的影响. 进一步, 应用卡尔曼滤波(KF)算法预测无人机飞行状态, 并根据实际飞行状态与预测状态之间的误差, 评估风场变化对预测准确度的影响. 在此基础上, 设计一种基于事件触发机制(ETM)的路径重规划策略, 使无人机仅在风场变化超过设定阈值时执行路径更新. 仿真实验结果表明, 该策略可显著降低无人机飞行过程中的能耗和计算负担, 同时增强无人机在复杂风场条件下的适应能力.

    Abstract:

    This study addresses the challenges of managing energy consumption and flight state variation in unmanned aerial vehicles (UAVs) operating in time-varying wind fields by proposing a real-time path replanning strategy based on an event-triggered mechanism (ETM). The approach first employs an improved particle swarm optimization (IPSO) algorithm for path planning, which assesses the similarity between paths under varying wind conditions to quantify the impact of wind field changes on the current path. Additionally, a Kalman filter (KF) is applied to predict the flight state of a UAV, evaluating the effect of wind variations on state prediction accuracy by comparing actual and predicted states. Based on these insights, an ETM is established to update the path only when wind field changes exceed a specified threshold. Simulation results demonstrate that the proposed strategy significantly reduces energy consumption and computational load, while enhancing the adaptability in complex wind environments.

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宋璐璐,邓超,范莎.基于事件触发的时变风场下无人机实时路径重规划策略[J].控制与决策,2026,41(3):835-844

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  • 收稿日期:2024-11-18
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  • 在线发布日期: 2026-03-04
  • 出版日期: 2026-03-10
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