一种利用改进A算法的部队机动路径规划

A Method of Force Maneuvering Path Planning with Improved A Algorithm

新形势下陆军由传统防卫型向全域机动型转变,摩托化机动的地位和作用日益突显。提出一种改进的A~*算法解决摩托化机动路径规划问题,针对机动中需顾及油料保障、难行点(路段)和道路转弯半径等要求,算法综合考虑油料消耗与保障点地理位置后,对道路网进行分层处理,并给出了分层搜索策略;改进A~*算法估价函数,计算难行点(路段)的通行时间和转弯半径;并利用向量夹角余弦值作为启发函数提高搜索效率;对比实验结果表明所提算法的可行性和有效性。

Under the new situation, the Army has changed from a traditional defensive type to a full-range motorized type, and the status and roles of motorized mobility have become increasingly prominent. An improved A ^* algorithm is proposed to solve the path planning problem of motorized maneuver in the paper. For the maneuvering, the requirements of fuel supply, difficult points ( sections) and road turning radius are considered. After the oil consumption and the geographical position of the security point are considered comprehensively, the road network is layered and a hierarchical search strategy is given. The A ^* algorithm evaluation function is improved, and the transit time and turning radius of difficult points ( sections) are calculated. The cosine value of vector angle is used as a heuristic function to improve search efficiency. The comparative experiment results show the feasibility and effectiveness of the proposed algorithm.