摘要
基于启发式A*算法规划点连接方式,将路径轨迹放大细化,且将存在一定角度的两段路径在允许范围内采用弧线代替改进A*算法中的航路规划。仿真结果表明,改进后算法缩短了路径长度,减少了无人机执行任务时的飞行时间,从而间接减少了无人机的耗能,增长了无人机使用时间。
Basing on the planning point connecting method of A*algorithm,we enlarge and refine the path trajectory,and replace the trajectory of A*with an arc in a certain limited angle.Simulation indicates that the path length is reduced and so is the flying time of the UAV when performing tasks.Consequently,the energy consumption of the UAV is decreased,and the lifetime of the UAV is increased.
作者
宋宇
顾海蛟
SONG Yu;GU Haijiao(School of Computer Science & Engineering, Changchun University of Technology, Changchun 130012, China)
出处
《长春工业大学学报》
CAS
2020年第6期597-601,共5页
Journal of Changchun University of Technology
基金
吉林省青年科研基金项目(20160520020JH)
吉林省“十三五”科学技术研究资助项目(2016第342号)。
