基于灵长目动物视觉认知原理的旋翼无人机自主规划方法研究

项目名称： 基于灵长目动物视觉认知原理的旋翼无人机自主规划方法研究

项目编号： No.61203331

项目类型： 青年科学基金项目

立项/批准年度： 2013

项目学科： 自动化学科

项目作者： 陈洋

作者单位： 武汉科技大学

项目金额： 24万元

中文摘要： 近年来,具有良好空间机动性能的旋翼无人机得到了广泛关注，然而它的应用一直受到现有路径规划技术的制约。主要因为现有方法通常需要建立精确的环境模型和无人机模型，或者需要对三维运动环境局部逼近，存在实时性不好、可靠性差等不足。本课题跳出现有方法的制约，将研究重点放在由路径规划环境到决策量之间映射关系的抽取、存储与检索上。基于灵长目动物视觉认知的分层投影机制和经验智能，提出一种基于分层投影回归的三维路径规划方法。该方法首先采用线性规划模型创建初始样本，然后通过模拟分层投影机制来描述高维环境信息与决策量之间的复杂映射关系，最后借鉴经验智能，基于路径规划知识库的增量学习、在线检索与在线更新构建旋翼无人机自主规划框架，从而提高无人机在真实三维环境中路径规划的实时性与可靠性。该课题为三维自主规划理论提供了新视角，为无人机实现全自主飞行奠定了基础，具有较高的理论意义和应用价值。

中文关键词： 旋翼无人机；路径规划；分层投影机制；相对状态树；

英文摘要： The rotary-wing unmanned aerial vehicle (UAV), which exhibits excellent maneuverability in three-dimensional space, has attracted extensive attention in recent years. However, its potential application has been limited by the existing path planning technologies for which usually need accurate environment modeling and vehicle modeling or local approximation of three-dimensional environment.Therefore, the efficiency and reliability of the existing path planning methods can not satisfy the requirement. The proposal mainly deals with this problem so as to break the above limitations and primarily studied how to extract, store and retrieve the mapping relationship from the planning context to the corresponding decision. Based on the hierarchical projected mechanism and empirical intelligence of the cognitive principles of the primate vision, a methodology for solving the UAV path planning problem called Hierarchical Projected Regression is derived. First, the linear planning model is adopted in the proposed approach to get initial samples. Then, the hierarchical projected mechanism is simulated for describing the complex mapping relationship between the high dimensional environment information and the decisions. Finally, the autonomous planning framework of the rotary-wing UAV is established based on the blocks of i

英文关键词： Rotary-wing UAV；path planning；hierarchical projected mechanism；relative state tree；