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242Vol.24No.220033JournalofAstronauticsMarch2003:2002-07-01,:2002-10-09郑昌文1,丁明跃1,周成平1,苏 康2,袁鸿翼2,金惠香2(1.,,430074;2.,100074):,,,,,,,:;;;:V57:A:1000-1328(2003)02-0115-060,[13],,,,,,,,Chandler[4]McLain[5]Voronoi,Voronoi,VoronoiVoronoi,,,VoronoiVoronoi(),Voronoi,[4],[5],;,,(CoevolutionaryCoordinativeRoutePlanner,CCRP)(),,,,1,,,,;,,,,,CCRP,,N,v[vmin,vmax],i,[vmin,vmax],(EstimatedTimeofArrival,ETA)[timin,timax],ETA:min(Ni=1([timin,timax]))(1)2CCRP2.1CCRP,1,(xi,yi,zi),bi,:1),;2),(),,1Fig.1Structureofthechromosome2.2(),,,2.2.1CCRP:C=ni=1(w1l2i+w2h2i+w3fTAi)(2)lii,;hii,,;fTaii,,:fTA=NSitej=1Kj/(RSj)4(3)KjjRSj,NSitew1,w2,w32.2.2,,,:1),,l,:lil(i=1,,n)(4)2):,ai=(xi-xi-1,yi-yi-1)T,,:aTiai+1aiai+1cos()(i=2,,n-1)(5)aa3)/:,/,:zi-zi-1aitan()(i=2,,n)(6)4):L,:iliL(7)116245):,,,iHi,H,:HiH(i=1,,n)(8)6):,,,(1),,ETApi,pj(j=1,,N,ji),pipjpiETA[timin,timax],pjETA[tjmin,tjmax],:timintjmaxtimaxtjmin(j=1,,N,ji)(9)pj:,pj;,pj(9),,,Ni=1([timin,timax])tNi=1([timin,timax]),,,,,,7):pi,pjETA,pid,:dds(10)ds,,ETA,,8):,(2.3)2.2.3,(4)(10),(2),,:1),;2),;3),,,(),,,p:F(p)=C(p)pCmax+p(11)C(p)(2),Cmaxp,,Cmax02.3,,2:,,:,,;,,:1172:(a)(b)(c)(d)(e)(f)(g)2Fig.2Theevolutionaryoperators::,2(e),,:2(f),,,:,,;,:xn-1=xn+t(xn-1-xn)yn-1=yn+t(yn-1-yn)zn-1=zn+t(zn-1-zn)(12)t02.4CCRP,,,,P(11),,S(P),,S,S(11)(P+S),S,,,CCRP:1)P;2);3),4,10;4)S;5),,S;6);7);118248)S,;9)3;10),3CCRPP866MHzPC,Windows2000,VisualC++6.0,100100(DTED),::vmin=121m/s,vmax=148m/sw1,w2,w31.0,5.0,1.0;2.5;/6030ds600mP=60,S=3060,,30,1/712034(a),;(b)(c)(d)(c)(d),(c)(d)1,30,80CCRP,,CCRP,,CCRP,(a)(b)(c)1(d)231Fig.3Experimentalresult11192:(a)(b)(c)1(d)242Fig.4Experimentalresult21Table1DataofExperimentalresults(s)(s)(s)11160.80512.862170.85543.047.9521240.97683.872240.97653.698.484,,,,,,,:[1]GoldmanJ.Pathplanningproblemsandsolutions.Proc.Na-tionalAerospaceandElectronicsConf.,IEEE,1994:105-108[2]BortoffS.PathplanningforUAVs.Proc.AmericanControlConf.,Chicago,USA,2000:364-368[3]SzczerbaRJ,GalkowskiP,GlicksteinISandTernulloN.Robustalgorithmforreal-timerouteplanning.IEEETrans.onAerospaceandElectronicSystem,2000,36(3):869-878[4]ChandlerP,RasmussenSandPachterM.UAVcooperativepathplanning.Proc.Guidance,NavigationandControlConf.,AIAA,2000.AIAAPaperNo.AIAA-2000-4370[5]McLainT,BeardR.Trajectoryplanningforcoordinatedren-dezvousofunmannedairvehicles.Proc.Guidance,NavigationandControlConf.,AIAA,2000.AIAAPaperNo.AIAA-2000-4369:(1969-),,,;:(430074):027-87544512(125)12024,1999,25(2):240-243[4]A.()[M].:,1983:560-571[5],,.[J].,1995,16(2):67-72:(1966-),,,,;::(430074):027-87544512()ClobberprobabilityofpilotlessaircraftbasedonerrorstochasticprocessLOULian-tang1,2,ZHOUCheng-ping1,DINGMing-yue1,FENGXin-lei1,GUANShi-yi3,ZHOUQi-zhong3,SONGWei3(1.InstituteforPatternRecognitionandArtificialIntelligence,HUST,Wuhan430074,China;2.DepartmentofComputerScience,WuhanInstituteofChemicalTechnology,Wuhan430073,China;3.TheThirdResearchAcademy,CASIC,Beijing100074,China)Abstract:Theclobberprobabilityofapilotlessaircraftisstudiedontheassumptionthattheerrorstochasticprocessisnormalstationaryprocess.Firstly,aformulaofclobberprobabilityisobtainedthroughtheoreticalanaly-siswhenpilotlessaircraftsareonlyinfluencedbysomeverticalinterferenceforthecasethatterraindataisknown.Theformulaissimplifiedwhenonlytopographiccharacteristicsareknown.Usingtheformula,it'spossibletoper-formtherealtimecomputationofclobberprobabilityinrouteplanning.Then,aformulaofclobberprobabilityisgivenwhenpilotlessaircraftsareinfluencedbyverticalandhorizontalinterference.Anapproximationoftheformu-laisobtained.Thecomputationoftheclobberprobabilityissimplified.Finally,someactualapplicationsontheseformulasarediscussed.Theinfluenceofstandarddeviationoferrorstochasticprocess,maneuveringbandwidthoftheaircraftandstandarddeviationofterrainontheprobabilityofclobberisanalysed.Keywords:Pilotlessaircraft;errorstochasticprocess;autocorrelationfunction;clobberprobability(120)CoordinatedrouteplanningformultipleairvehiclesZHENGChang-wen1,DINGMing-yue1,ZHOUCheng-ping1,SUKang2,YUANHong-yi2,JINHui-xiang2(1.StateEducationCommissionKeyLabforImageProcessingandIntelligentControl,InstituteforPatternRecognitionandArtificialIntelligence,HuazhongUniversityofScienceandTechnology,Wuhan430074,China;2.Research&DevelopmentCenterofthe3rdAcademyofCASIC,Beijing100074,China)Abstract:Thecooperativeroute-planningproblemofmultipleairvehiclesisstudiedwiththeproposalofanov-elcoevolutionarycoordinativerouteplanner.Inthenewplanner,potentialroutesofeachvehicleformtheirownsub-population,andevolveonlyintheirownsub-population,whiletheinteractionamongallsub-problemsisre-flectedbythedefinitionoffitnessfunction.Byusingaproblem-specificrepresentationofcandidatesolutionsandgeneticoperators,ouralgorithmcantakeintoaccountdifferentkindsofenvironmentalinformation,handlevariousmissionconstraints,andgeneratedesired3Drouteinreal-time.Keywords:Route-planning;Multipleairvehicles;Coordination;Coevolutionaryalgorithm1252: