摘要
针对复杂地形环境下多架无人机的三维路径协同规划问题,提出了一种改进的双向A~*搜索算法,该算法在双向A~*搜索的基础上,引入了无人机搜索角度作为双向A~*算法搜索的约束,大大缩小了节点的扩展区域,避免对冗余点的访问,缩小了路径规划所用的时间,并对数据的存取进行优化,提高了算法的执行效率。用MATLAB对改进后的双向A~*算法进行了仿真验证,结果显示,该算法能够快速有效地实现在满足各种约束条件下的多无人机的三维路径规划。
Aiming at the problem of three-dimensional path cooperative planning of multiple UAVs in complex terrain environment.An improved two-way A~*search algorithm is proposed.Based on two-way A~*search,this algorithm introduces the UAV search angle as two-way A~*.Algorithm search constraints greatly reduce the extended area of nodes,avoid access to redundant points,reduce the time used for path planning,and optimize data access,improving the efficiency of algorithm execution.The improved bidirectional A~*algorithm is simulated by MATLAB.The results show that the algorithm can quickly and effectively realize the 3 D path planning of multi-UAV under various constraints.
作者
赵丽华
万晓冬
Zhao Lihua;Wan Xiaodong(College of Automation,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China)
出处
《电子测量技术》
2020年第7期72-75,166,共5页
Electronic Measurement Technology
关键词
无人机
路径规划
启发式算法
可行方向法
drone
path planning
heuristic algorithm
feasible direction method
