基于改进A^(*)算法的无人机任务分配和航迹规划优化方法

UAV Mission Assignment and Path Planning Optimization Based on Improved A^(*) Algorithm

针对无人机执行多目标侦察任务的应用需求,提出了一种基于改进A^(*)算法的无人机任务分配和航迹规划优化方法。首先,在地理信息系统中标绘威胁区域,确定规划空间;其次,基于改进A^(*)算法预估航程矩阵,并应用TSP模型和遗传算法求解任务分配结果;然后,根据多目标时序任务分配结果,基于改进A^(*)算法实现航迹寻优,应用三次B样条曲线法进行航迹平滑;最后,依据威胁区域和任务目标的变化,确定局部动态规划空间,执行局部任务动态分配和局部航迹动态规划。开发了无人机任务规划软件,并验证了所提方法的有效性。

In order to meet the requirements of multi-target reconnaissance tasks undertaken by UAVs a UAV mission assignment and path planning optimization method based on the improved A^(*) algorithm is proposed.Firstly in the Geographic Information System(GIS)the threat area is marked and the planning area is confirmed.Secondly the route range matrix is estimated based on the improved A^(*) algorithm and then the mission assignment result is obtained by using the model of Travelling Salesman Problem(TSP)and the genetic algorithm.Thirdly according to the multi-target sequential mission assignment result the path optimization is realized based on the improved A^(*) algorithm and the path smoothing is implemented by using the method of cubic B-spline curve.Finally according to the variation of threat areas and mission objectives the local dynamic programming space is determined and the dynamic assignment of local missions and the dynamic planning of local path are implemented.A UAV mission planning software is developed and the experiments have verified the effectiveness of the proposed method.