一种基于可行优先的三维航迹规划方法

3D Route Planning Based on Feasible First Search

针对三维航迹规划的实时性问题,提出了一种基于可行优先的三维航迹规划方法。不同于通常的最优优先算法,该方法使用可行优先的准则,有效地剪除了搜索空间,提高了搜索效率,从而使三维航迹规划能够应用于实时航迹规划中。在搜索过程中,该方法通过改进局部航迹的三维规划,飞行状态保持,动态网格,导引点集四种策略,能快速地规划出三维航迹。算法复杂度分析和试验表明,该方法能够有效地完成航迹规划任务,获得满足要求的可行航迹。

To solve real-time problem of 3D - Route planning, a new method of 3D-route planning based on FFS（ Feasible First Search） is proposed in this paper, which differs from traditional approach base on OFS（optimal First Search）. It efficiently prunes the search space and shortens the search time base on the rule of FFS, making the algorithm possible be used in real-time route planning. During the search process, the 3D-Route is planned quickly by improving local 3D-Route Planning, keeping flight state, dynamic grid and the aggregate of guide points. The analysis of computational complexity and experiment results illustrated that this method can complete planning mission efficiently and obtain a desirable route.