一种飞行器在线实时航迹规划算法

An On-line Real-Time Route Planning Algorithm for Air Vehicles

针对飞行器在线航迹规划问题展开研究,提出了一种实时航迹搜索算法。该方法将飞行器的运动与航迹搜索结合在一起,可以有效地调节搜索的时间,满足在线实时应用的要求。通过在限定的时间内扩大寻优范围,该算法可以有效地避免不可行区域,并使生成的航迹更加优化。实验结果表明,算法能有效地处理各种航迹约束,实时地生成满意的三维航迹。

The problem of on-line route planning problem of air vehicles is studied with the proposal of a new real-time planner. By combining the flying of the vehicle with the process of route search, the novel algorithm can adjust the time of search and meet for the requirements of real-time in-flight applications. By searching the solutions in a larger area under limited time, the planner can avoid infeasible areas effectively and enhance the performance of the resultant routes. The experimental results illustrated that our algorithm can take into account different kinds of mission constraints and generate the solutions in real time.