一种利用改进A*算法的无人机航迹规划

Path Planning Strategies for UAV Based on Improved A* Algorithm

提出了一种改进的A*算法解决大范围三维战场环境的无人机航迹规划问题。针对低空突防中无人机需满足生存率高、耗油量小等要求,算法综合考虑了航线高度、被探测概率、航线长度等权重因子,在该目标空间中搜索一条两个航路点之间的最优航线。同时为了满足UAV安全高度、升降率、转弯半径等性能约束,提出了一系列航线优化算法,得到最终的可飞航线。

This study proposes a modified A algorithm to solve the problem of real-time unmanned air vehicle（UAV） path planning in a large 3D battlefield environment. Since the UAV has to meet the re- quirements of high survival rate and low fuel consumption in low-altitude penetration, the algorithm took the flight altitude, detected probability and flight length into consideration to search the optimal flight path between two waypoints. Meanwhile, to satisfy the UAV perfor-mance constraints, such as safety altitude, rate of climb, and radius of turn, the author suggested a series of optimization algo- rithms to get the final flyable path. Experimental results show that these algorithms have good con- vergence and high efficiency andprovided a optimal trajectory for decision-makers.