基于改进A^＊算法的翼伞航迹规划研究

Research on Modified A ＊ Algorithm Based Path Planning for Parafoil System

在空投翼伞着陆航迹优化的研究中,翼伞航迹规划是完成精确空投任务的关键环节。由于现有翼伞航迹设计方法没有考虑环境的不利影响和在线航迹规划需求,提出建立翼伞着陆过程威胁数学模型,提出了利用改进A*算法的翼伞航迹规划方法和虚拟威胁法,使翼伞满足逆风着陆条件,设计了盘旋规划,保证了精确着陆。最后仿真验证了上述方法能够满足复杂战场环境条件下翼伞航迹规划要求,并且具有较好的威胁回避能力和快速规划能力,具有很大的实际应用价值。

The parafoil system path planning is of significant importance in pricesion airdrop operation. Effects of environment and in-flight planning requirement are not considered in current literatures. In the paper, threat models were established. A modified A ＊ algorithm based parafoil path planning method was proposed. Virtual threat method was adopted to achieve head wind landing requirement, and spiral planning was conducted to guarantee the landing accuracy. Simulation result shows the proposed method satisfies parafoil path planning requirements in the complex battle environment, and is capable of threat avoidance with excellent computational efficiency.