基于改进A＊算法的无人机航迹规划

UAV path planning based on improved A＊ algorithm

借鉴A＊算法思想,提出了一种改进A^＊算法的无人机航迹规划方法。针对在传统A＊算法中将规划区域栅格化、只能在特定方向按照特定步长扩展节点的不足,采用圆形节点扩展方法,可以实现变方向和变步长扩展节点。通过仿真进行了验证,结果表明改进的航迹规划方法可以绕过威胁,安全到达目标点。

An improved UAV path planning method was put forward considering A＊algorithm. Since gridding on planning area in traditional A~＊algorithm could only expand nodes in a specific direction with given step,this paper adopted circular nodes expanding method,which could realize expand nodes in alterable direction and step. This method was verified by a large number of simulations. The result shows that the improved path planning method can bypass the threat and reach the target safely.