基于A^(*)算法的多无人机实时打击航迹规划

Real-time Strike Path Planning of Multiple UAVs Based on A^(*) Algorithm

针对多无人机在复杂战场环境下对多个不同价值目标多向打击航迹规划的实时性要求,提出一种编队无人机实时打击航迹规划算法。首先对多个目标进行聚类,然后基于A^(*)算法,考虑任务区域、无人机的最小转弯半径等约束,规划得到基准侦察航迹。提出一种基于规则的多向打击航迹快速扩展方法,依据目标的价值等级对基准侦察航迹进行快速扩展,生成对不同价值目标的多向打击航迹。仿真结果表明,A^(*)算法能够实现对不同价值目标的多向打击,且规划框架合理可行;算法规划效率较高,满足工程实际应用的实时性要求,可用于多无人机的实时多向打击航迹规划。

Aiming at the real-time requirement of multi-direction strike path planning for different value targets of multiple UAVs in complex battlefield environment,a real-time strike path planning algorithm for the formation of the UAVs is proposed.Firstly,multiple targets are clustered,and then the baseline reconnaissance path is planned based on A^(*) algorithm,considering constraints such as the mission area and the minimum turning radius of UAV.A rule-based fast expansion method for multi-direction strike path is proposed,the baseline reconnaissance path is expended according to the value level of the target,and multi-direction strike paths for different value targets are generated.The simulation results show that A^(*) algorithm can achieve the multi-direction strike against different value targets,and the planning framework is reasonable and feasible.The algorithm is efficient,which can meet the real-time requirement of engineering application,and can be used for the real-time multi-direction strike path planning of multiple UAVs.