摘要
针对三维环境中的无人机航迹规划问题,提出了一种基于模型约束A^(*)算法的航迹规划方法。首先,将无人机物理约束与威胁环境进行融合,建立无人机三维航迹规划问题的数学模型;对传统A^(*)算法的代价函数进行优化,采用控制系数值大小的方式选取扩展节点,以提高算法搜索效率;对已生成航迹进行平滑处理,解决航迹点之间的平滑过渡问题。实验结果表明,算法在节点搜索效率和平滑处理中解决了传统A^(*)算法的不足之处,并在三维环境中可规划出一条实际可飞且最优的飞行航迹。
Aiming at the problem of UAV path planning in 3 D environment, a path planning method based on model constrained Aalgorithm is proposed. Firstly, the UAV physical constraints and threat environment are fused, and the mathematical model of UAV 3 D path planning is established. Then, the cost function of the traditional Aalgorithm is optimized, and the expansion node is selected by controlling the value of the coefficient, so as to improve the search efficiency of the algorithm. Finally, the generated path is smoothed to solve the problem of smooth transition between path points. The experimental results show that this algorithm solves the shortcomings of the traditional Aalgorithm in node search efficiency and smoothing, and can plan a practical and optimal flight path in a 3 D environment.
作者
张瑞鑫
王伟
田泽
张伟
Zhang Ruixin;Wang Wei;Tian Ze;Zhang Wei(School of Computer Science,Xi'an Polytechnic University,Xi'an 710600,China;Key Laboratory of Aviation Science and Technology on Integrated Circuit and Micro-System Design,Xi'an 710068,China;School of Computer Science,XianyangNormal University,Xianyang712099,China)
出处
《国外电子测量技术》
北大核心
2022年第9期163-169,共7页
Foreign Electronic Measurement Technology
基金
2021年中国高校产学研创新基金(2021ALA02002)
2021年“纺织之光”中国纺织工业联合会高等教育教学改革研究项目(2021BKJGLX004)
西安工程大学2020年高等教育研究项目(20GJ05)资助。
