摘要
应用双向A*算法对在城市环境中的无人机进行航路规划,对比传统的A*搜索算法,双向A*搜索算法提高了搜索的效率,大大缩短了航路规划的时间。同时针对双向A*算法现有的不足,对双向A*算法进行改进,提出了同步双向A*搜索算法思想,通过编程实现双向A*算法正向搜索和反向搜索同步进行,并且采用栅格法对无人机的飞行环境进行建模,在建模时充分考虑城市环境确定栅格的大小。通过实验验证,同步双向A*算法可以快速为无人机规划出航路,且航路可飞,对比改进前的双向A*算法,同步双向A*算法的航路规划速度更快,效率更高。
The bidirectional A＊algorithm was applied in the urban UAV route planning. Compared with the traditional A＊search algorithm,the synchronous bidirectional A＊search algorithm,the improved bidirectional A＊search algorithm,has higher search efficiency,and saves great time of route planning. Experiment was built to realize the forward search and the backward search working on the same time by using the grid method to build the environment model for UAVs. It was fully considered that the urban environment to determine the grid size while building the environment model. Experimental result shows that the synchronous bidirectional A＊algorithm is more efficient since it can make the route planning faster for UAVs and the route flyable.
出处
《沈阳航空航天大学学报》
2016年第4期55-60,共6页
Journal of Shenyang Aerospace University
基金
辽宁省自然科学基金联合基金(项目编号:2015020008)
辽宁省自然科学基金(项目编号:20102175)
辽宁省高等学校优秀人才支持计划(项目编号:LJQ2012011)
关键词
无人机
双向A＊
栅格法
城市环境
航路规划
unmanned aerial vehicle（UAV）
bidirectional A＊
grid
the urban environment
route planning
