基于分级策略的实时三维航路规划研究

Real-Time 3D Route Planning Based on Classifying Strategy

为提高飞行器对地攻击效能,必须对其三维航路规划技术进行研究。通过考虑飞行器姿态变化对暴露范围的影响,建立了飞行器隐身模型;考虑到威胁并非不可穿越,建立了间歇式暴露模型;针对在改进稀疏A*算法的基础上发展的分步规划算法存在规划局部收敛的缺陷,提出了一种基于分级策略的三维航路规划方法;最后,在真实地形下进行了仿真验证。结果表明所建模型及算法的有效性和实用性。

In order to improve the ground attacking efficiency of aircrafts, 3D route planning technology must be studied. Firstly, based on analysis to the effect of aircraft attitude changing on the exposing range, the aircraft stealth model is built up. Then, considering that it is not true that the threat area can never be passed through, a discontinuously exposing model is established. Since the step-by-step plan （ SSP ） algorithm established based on the improved sparse A-star algorithm has the defect of local convergence, one 3D route planning method based on classifying strategy is presented. At last, simulation is given in real terrain, which results show the effectiveness and practical applicability of the proposed model and algorithm.