基于A*算法的无人机四维航迹规划研究

Study on 4D Route Planning for UAV Based on A * Algorithm

无人机航迹规划是指在满足无人机性能指标、地理环境、作战任务等约束条件的前提下,寻找从起始点到目标点并满足无人机各种约束条件的最优或可行的航迹。由于战场环境复杂,为无人机进行航迹规划能够提高无人机的生存概率,保证无人机完成预定任务。随着任务实时性的不断提升,如何在满足其它约束条件的同时使无人机按要求时间到达目标成为无人机航迹规划的难点。针对三维空间中考虑时间维约束的无人机航迹规划问题,通过将与要求到达时间的时间偏差引入到A*算法中的估价函数中,不断扩展偏差最小的节点,同时加入速度调整策略进一步缩小时间误差,最终规划出满足到达时间要求的四维航迹。仿真结果表明,算法规划出的航迹满足要求。

Route Planning for Unmanned Aerial Vehicle （UAV） refers to searching for a optimum or an appropri ate route for an UAV form the start to the objective under the restriction of performance, geography, task, etc. Route Planning for an UAV can improve its survival probability and make sure it accomplishes its tasks in modern compli cated battlefield. As the time request of the tasks is stricter, it is becoming challenging for making an UAV get to its objective in requested time while satisfying other restrictions. In respect of the 3D Route Planning issue in consider ation of time restriction, this paper came out of a 4D route that satisfies the required time of arrival, through induc ting time bias into the cost function of A ＊ Algorithm, expanding the node with the least time bias, and adding speed adjustment strategy in order to further minimize the time bias. The result of the simulation indicates that the route planned by the algorithm meets the requirements.