关键词: 无人飞行器, 航迹规划, 随机路线图, 动态威胁回避, 实时处理

Abstract: Among the many open issues of development of unmanned air vehicles （UAVs）, route planning is paid extensively attention. But the focus is concentrated on the route-planning problem in known environments. In this paper, the route-planning problem of UAVs in uncertain and mission-adapable environments is addressed with the proposal of a two-phase route-planning framework. The route planning process is split into two phases: the learning phase and the query phase. Environmental information and mission constraints of UAVs are integrated into the building roadmap and searching for routes. A hybrid route planner is adopted based on roadmap, which queries the initial route for UAV on the sparse roadmap and searching for the spare route on the fine roadmap with the help of the initial route. This planner can give 3D route for UAV in a dynamic and multiple-mission environment in real-time.

Key words: unmanned air vehicle, route planning, probabilistic roadmap, dynamic threat avoid, real-time processing