摘要
通过改进启发式A*算法流程及数据结构,结合航迹规划多约束条件的实际,提出了一种快速可行的航迹规划方法。该方法考虑了飞机机动性能约束和终端进入方向角约束,建立专家知识库,缩小了搜索空间。将A*算法中的OPEN表映射到CLOSED表中,采用嵌套二叉树管理OPEN表和CLOSED表,提高了算法的搜索和执行效率。最后提出循环插入删除航路点的方法优化了航路。仿真结果表明,在复杂环境情况下,该方法显著提高了搜索效率。
A practical strategy for fast path planning under multi-restriction was proposed,through improving the process and data-structure of A＊ algorithm.The method takes into consideration the moving capability of plan.An expert knowledge system was established,which reduced the searching-spaces and the restricted entry angle.The OPEN list of A＊algorithm was mapped to the CLOSED list.Using the nested Binary Tree to management the OPEN list and the CLOSED list,which notably improved the processing and searching efficiency of the algorithm.Besides,a method was presented to optimize the path by inserting and removing the route nodes round trip.By contrast of simulation results,the efficiency has been considerably improved.
出处
《飞行力学》
CSCD
北大核心
2011年第1期89-92,共4页
Flight Dynamics
关键词
航迹规划
二叉树
航路优化
A＊算法
path planning
binary tree
route optimizing
A＊ algorithm
