基于改进A~*算法的无人机航线规划

UAV route planning based on improved A~* algorithm

为了保障无人机安全飞行,考虑无人机航线规划后航线贴合威胁区边缘的问题,提出了一种改进的A~*算法。在经典A~*算法规划复杂环境下无人机航线的基础上,在威胁区外设立了环状影响区,并设计防止贴合威胁区边缘的危险系数;为了解决规划后航线不平整问题,提出了航线平滑处理算法;同时,提出了死区修正算法,用于解决规划时陷入搜索死区的问题。仿真结果表明,改进A~*算法运算速度较快、鲁棒性强,且能够自主路径寻优,在满足实时性要求的条件下有效解决了无人机航线规划问题。

To ensure the UAV’s flying security,an improved A~*algorithm was proposed to solve the problem of planned route fitted the edge of the threat zone.Based on the application of classical A~*algorithm for UAV’s route planning in complex environment,a ring-shaped influence zone outside the threat zone and a danger coefficient were designed to avoid the edge of threat zone being fitted.A smoothing algorithm was proposed in order to solve the problem that the planned route was uneven.At the same time,a dead-zone correction algorithm was proposed to deal with the problem that the planned route always fell into the dead-zone.Simulation results show that the improved A~*algorithm has faster arithmetic speed and stronger robustness.It also achieves autonomous route optimization,and solves the problems of UAV’s route planning effectively under the condition of satisfying real-time requirement.