应用D~* Lite算法的目标移动时无人机三维航迹规划

An Improved D~* Lite Algorithm Based 3D Path Planning for UAVs When Target is Moving

针对不确定环境下目标移动时的无人飞行器三维航迹规划问题,采用改进的D*Lite搜索算法,设计了一种三维航迹快速规划方法。利用改进的代价评估函数,根据突发威胁和移动目标的实时信息,将航迹规划约束条件和改进的搜索算法相结合,给出了地面目标移动时的无人飞行器三维航迹规划方法。仿真结果表明,该算法不但可以满足实时在线的航迹规划要求,能够有效躲避突发威胁,打击移动目标,还能有效地缩小搜索空间,提高搜索效率及寻优能力,能较好地解决不确定环境下目标移动时的航迹规划问题。

With respect to the problem of 3D path planning of Unmanned Aerial Vehicles （UAV） under uncertain environments when the target is moving, a method of fast 3D path planning was designed based on the improved D ＊ Lite algorithm. By use of the improved cost evaluating function and the real-time information of unanticipated threats and moving targets, and based on the constraints together with the improved search algorithm, a method of 3D path planning for UAVs was given. The simulation results demonstrated that the algorithm can not only meet the real-time path planning demands, avoid the unanticipated threats and attack the moving targets, but also reduce the search space, improve the search efficiency and optimizing capability, which is a good method for path planning of UAV under uncertain environments.