【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

✅作者简介：热爱科研的Matlab仿真开发者，修心和技术同步精进，matlab项目合作可私信。

🍎个人主页：Matlab科研工作室

🍊个人信条：格物致知。

更多Matlab仿真内容点击👇

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

⛳️ 代码获取关注我

❤️部分理论引用网络文献，若有侵权联系博主删除

❤️ 关注我领取海量matlab电子书和数学建模资料