基于柱状空间和改进A*算法的无人机规避方法

Obstacle Avoidance Method of UAV Based on Columnar Space and Improved A* Algorithm

针对无人机避障问题,提出了基于改进A～＊算法和柱状空间的无人机规避方法。首先,根据无人机飞行区域的障碍物分布情况,建立飞行区域的柱状空间;然后将障碍物对无人机的影响引入到估价函数中,重新设计启发函数;最后将基于柱状空间和改进A～＊算法的无人机规避方法应用于无人机的规避中,并对规划的路径进行平滑处理。仿真结果表明,该算法能够有效地实现无人机的规避。

Aimed at obstacle avoidance of UAV,an algorithm based on improved A ＊ algorithm and columnar space is designed.First,the columnar space is established for flight region according to the distribution of obstacles in the UAV flight area.Secondly,affects on UAV from barriers are introduced to the evaluation function to re-design the heuristic function.Finally,the method is applied to avoid collision and smooth the path planning.The simulation results prove to be effective on the UAV obstacle avoidance.