摘要
提出了一种基于实时A*搜索的无人机实时航迹规划算法。该算法将飞行器运动与航迹搜索相结合,在飞行器飞行过程中实时规划出下一段航迹;在搜索过程中,使用了多步寻优搜索的方法,相比单步搜索生成的航迹更加优化;使用最小转弯半径对生成的折线进行连接,使路径平滑可飞;针对算法局限性,给出一种改出局部最优点的策略。最后经仿真证明了该算法能够较好地满足规划要求。
Using the concept of real-time A^＊ , this paper presents a real-time route planning algorithm for unmanned aerial vehicles（UAVs）. Combined with motion and route planning, the next suboptimal route is generated in the course of flying. Compared with the single step searching, the multi-step searching is used to generate a more optimized route. The arc segment technology is used to smooth the route. An approach is presented to guide UAVs to voyage the local optimal point in a short time. Finally a numerical simulation demonstrates the efficiency of the algorithm.
出处
《系统工程与电子技术》
EI
CSCD
北大核心
2007年第3期399-401,共3页
Systems Engineering and Electronics
关键词
无人机
动态环境
航迹规划
实时规划
unmanned aerial vehicles（UAVs）
dynamic environment
route planning, real-time planning
