JPH0317500A - Flying route set device of flying object - Google Patents

Abstract

PURPOSE:To obtain an ascending route set device to which the method of artificial intelligence is applied by allowing a local route set part between intermediate points to set a flying route based on a cost map of a local route. CONSTITUTION:A cost assignment part 1 of a map is allowed to perform a cost assignment of the map with the use of a production system. A setting part 2 is allowed to reason a global flying route for minimizing a cost based on a cost map of an initial value and a target value. A setting part 3 of the intermediate point is allowed to reason the intermediate point for setting the local flying route to the global flying route. A local route set part 4 between the intermediate points is allowed to set the flying route based on the cost map of the local route. In other words, configuration of the ground is divided into grids in order to select an optimum flying route of a flying object to assign a cost in each grid to apply the method of artificial intelligence to its cost assignment and route selection so as to realize a concise and efficient system in order to select a route for reducing the cost.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a flight path setting device for a guided flying vehicle launched from the ground toward a target on the ground.

[Conventional technology] In the past, humans manually determined flight routes to computers.

[Problem to be solved by the invention] Guided flying vehicles launched from the ground toward targets on the ground are required to fly continuously at low altitudes from the launch point to the target in order to reduce the detection rate from the target. be done. Therefore, it is necessary to instruct the flying object on a detailed flight path that is appropriate for the terrain. Setting a flight path is a complex problem that depends not only on the terrain but also on other conditions.

An object of the present invention is to provide a flight path setting device that applies artificial intelligence techniques suitable for solving such complex problems.

[Means for Solving the Problems] The flying route setting device for a flying object according to the present invention includes a map cost assignment section 1, a global route setting section 2, an intermediate point setting section 3, and an intermediate point between intermediate points. In the flight route setting device including a local route setting unit 4, the map cost assignment unit 1 uses a production system to allocate the cost of the map, and the global route setting unit 2 uses the A8 method to allocate the cost of the map. The intermediate point setting unit 3 infers a global flight route that minimizes the cost based on the initial value, target value, and cost map, and
The production system is used to infer intermediate points for setting a local flight route for the global flight route, and the local route setting unit 4 between the intermediate points calculates the cost of the local route using the A'' method. The feature is that the flight route is set based on the map.

That is, the device of the present invention divides the terrain into grids in order to select the optimal flight path for the flying object, assigns a cost (indicating the difficulty level of passing through each grid) to each grid, and In order to select the route that minimizes the cost, we need to assign its cost.
By applying artificial intelligence techniques to both the algorithm and route selection, we are able to create a system that is simpler and more efficient than traditional algorithmic programming.

[Function] (1) Production system The production system functions as follows.

a) Make a cost assignment for the global map (determine the measure of passability of each mesh).

b) Set the intermediate point (set the intermediate point in the global path).

(2) A” A" functions as follows.

a) Give the optimal (minimum cost) global bus for the cost-assigned global map.

b) Give a local bus between given waypoints.

[Example code] The invention is illustrated in FIGS. 1-5.

FIG. 1 shows a block diagram of an embodiment of the device according to the invention.

In Figure 1, the production system of cost assignment part 1 of the map is the most widely used method in the field of artificial intelligence and is the core of the expert system, and its configuration is shown in Figure 2. .

The production system has production memory 11.
, a working memory 12, and an inference engine (inference engine) 13.

In the production memory 11, there is a message “If... then...”
Many production rules of the form ``Sho 1'' are memorized.

Working memory 12 contains information about the problem to be solved.

The inference engine 13 makes inferences based on the data between these two memories.

A8 of the global route setting unit 2 in FIG. Using the optimal solution search method devised by Nilsson et al., when inputting initial values and target values,
This is a calculation algorithm that outputs a route that minimizes a pre-given evaluation function.

In the present invention, the AI1 production system is used as follows.

Production systems are used to create cost maps.

First, allocate costs to the terrain. In other words, when the launch point and the target position of the projectile are given, a pre-existing digital map (as information, the position,
It has altitude, topography, etc. for each small area of 5kIll. ), the ease and difficulty of passing through each small area are assigned as costs.

To give an example and explain it in detail, I have the following digital map.

(RIOIO 1200 300 mo
untain 0 0) (RIOII
800 500 ('Ield
0 1) This means that the small area called R1010 has a maximum altitude of 1200m and a minimum altitude of 300m. The terrain is a mountainous area, and the location has the meaning that the X coordinate is 0 and the Y coordinate is O. These regions RIOIO, RIOII, etc. are made by cutting a large map into 5km x 5km meshes, and have data for each. A cost is given for each small area of this digital map using a production system. This cost is expressed numerically.

For example (RIO10 100) (RIOII200)
It is expressed as... The higher the cost, the more difficult it is to pass through the area. In this case, R1011 is more difficult to pass than R1010. For example, a rule might be something like, ``If the highest altitude of an area is over 1000 meters and it is a mountainous area, assign 100 points to the cost.''

Next, the A1 algorithm is used on the map to which this cost has been assigned to find a route that minimizes the sum of all costs. For example, the firing point is R1021 and the target is R3.
If 020, R1021→R1022-...R2
It is represented by a combination of small areas 921→R3021.

This digital map has two layers and is 5kl.
Each of the +×5kII1 small areas consists of a 1km x 1km or even smaller area. First 5k+++
The X5k+s mesh allows you to set a rough flight route and then set a detailed route.

The production system is again used to perform the following processing on the rough flight route set as described above.

For example, if a flying object is flying over a plain, it should fly straight, but in a mountainous area, it may need to fly through a valley.

Such a study is performed using the production system, and a detailed route is set again using A1 only for areas where detailed flight is required.

(Figure 3).

To summarize the above (1) Launch point. Decide the target position, location, etc.

(2) Use the production system L1 to allocate costs and create a cost map.

(3) Set a rough flight route using A''.

(4) Perform route evaluation using the production system.

(5) Set a detailed flying route using A''.

The device of the present invention shown in FIG. 4! ; The map used consists of two layers: a global map and a local map. Each mesh has information such as location, altitude, topography (mountains, plains, towns), etc.Local map (has information on altitude and location).

In the apparatus of the present invention, first, the cost of each meso is determined using the production system. The production system contains rules used to determine costs.

For example, the information for a mesh with a global map is "
90% in mountain areas and 10% in towns.

Furthermore, one of the rules in the production system is "
If more than 90% of the area is mountainous, reduce the cost by 20%.
Set it to 00. ”, the cost of that mesh would be 2000. In this way, the cost is determined for all meshes. The higher the cost, the more difficult it is to travel through the area.

Next, the flight route setting flow shown in FIG. 5 will be explained.

First, for the map to which the cost has been assigned, A'' sets a global path so that the cost is minimized (part (a) in Figure 5).Next, it sets a local path for this global path. Set the intermediate point again in the production system (see Figure 5 (b)).
Finally, the local bus between the intermediate points is set again using A8 and the local path (FIG. 5(C)).

[Effects of the Invention] Since the present invention is configured as described above, the device of the present invention can efficiently and automatically set a route for a projectile to move toward a target through terrain. The device of the present invention can also be applied to assist aircraft in low-altitude intrusion.

[Brief explanation of the drawing]

FIG. 1 is a block diagram of an embodiment of the device of the present invention. Figure 2 is an explanatory diagram of the production system in Figure 1, and Figure 3 is an illustration of the production system in Figure 1.
Figure 4 is a diagram showing an area for local route setting according to the A8 method, and Figure 4 is a diagram showing an example of a map used in the device of the present invention. FIG. 5 is a diagram showing the flight route setting flow of the present invention.

Claims (1)

[Claims] A flight comprising a map cost assignment section (1), a global route setting section (2), an intermediate point setting section (3), and a local route setting section between intermediate points (4). In the global route setting device, the map cost assignment unit (1) allocates the cost of the map using a production system, and the global route setting unit (2) uses the A^* method to assign the initial value and purpose. The intermediate point setting unit (3) infers a global flight route that minimizes the cost based on the value and the cost map, and uses the production system to determine a local flight route for the global flight route. The local route setting unit (4) between the intermediate points sets a flight route based on a cost map of the local route using the A^* method. Body flight path setting device.