基于改进A*算法的飞行器航迹规划方法

Flight path planning method of aircrafts based on improved A*algorithm

针对传统A*算法搜索空间多,搜索速率慢的问题,针对飞行器航迹规划过程中产生的回溯效应,对已有的A*算法的飞行器航迹规划算法改进,使算法搜索空间减少,搜索速率提高。将多种威胁抽象为禁飞区和边界,将禁飞区设置为圆形,圆心为禁飞区中心。当规划结果不满足期望轨迹时,可将禁飞区的安全半径缩小,或者考虑为其他形式的禁飞区。仿真结果表明,本文采用的航迹规划算法提供的一系列参考航迹点,能够合理规避禁飞区,给飞行器系统提供到达任务区域的可行路径,满足作战任务需求。

ed as no-fly zones and boundaries.The no-fly zone is set as a circle,the center of the circle is selected as the center of the no-fly zone,and the radius of the no-fly zone needs to ensure a coverage of the no-fly zone.When the planning results do not meet the desired trajectory,the safety radius of the no-fly zone can be further reduced,or other forms of no-fly zone can be considered.The node expansion algorithm is designed and the route planning is realized based on the improved A*algorithm.The simulation results show that the proposed path planning algorithm provides a series of reference track points,which can reasonably avoid the no-fly zone and provide a feasible path to the mission area for the aircraft system to meet the operational mission requirements.