摘要
针对传统A-Star算法在无人机航迹规划问题应用中的局限性,提出了一种结合飞行器简化运动学方程的改进A-Star算法,并将该算法应用于解决无人机在未知危险环境中的威胁规避问题;研究了综合考虑各路径代价影响因素情形下的航迹规划方法。最后对无人机参考航迹规划的数字仿真证明了改进算法的有效性。
Taking aim the limitation of traditional A-Star algorithm in route planning for unmanned aerial vehicles（UAVs）, an improved A-Star algorithm that combines with aircraft kinematics equation was presented to solve the UAVs＇ threat avoidance in unknown environment. A route planning＇ s method was studied at the condition of considering comprehensively influence factors of route cost. A numerical simulation in reference route planning for UAVs demonstrates the efficacy of the improved algorithm.
出处
《兵工学报》
EI
CAS
CSCD
北大核心
2008年第7期788-792,共5页
Acta Armamentarii
关键词
运筹学
无人机
航迹规划
威胁规避
A-STAR算法
路径代价
operation research
unmanned aerial vehicles （UAV）
route planning
threat avoidance
A-Star algorithm
route cost
