多属性决策与改进A*算法规划重力匹配导航航迹

Multi-attribute decision theory and improved A* algorithm for planning gravity matching navigation tracks

针对水下重力匹配导航的适配区划分与航迹规划这两项关键技术,该文提出将基于多属性决策的适配区划分方法与改进A*算法联合,为水下航行器规划航迹。(1)将6种重力场特征参数通过多属性决策将其融合为综合指标,以此划分适配/非适配区并制作二维栅格图;(2)改进A*算法启发函数并对航迹点优化平滑,与原算法进行仿真对比。结果表明:该方法可令航行器行驶在重力特征显著海域,且优化后有效减少了航程与46%的冗余拐角,为重力匹配导航带来便利并提供重要保障。

Aiming at the two key technologies of adaptation zone division and track planning in underwater gravity matching navigation,this paper proposed to combine the adaptative zone division method based on multi-attribute decision making with the improved A* algorithm to plan the track for underwater vehicles.Firstly,Six gravity field characteristic parameters were used for divide the adaptation zone,and multi-attribute decisions were used to fuse them into comprehensive indicators,so as to divide the adaptive/non-adaptive zones and make two-dimensional raster maps.Then,the A* algorithm heuristic function was improved and the track points was optimized and smoothed,finally,simulation comparison with the original algorithm.The results show that this method could enable the vehicle to travel in the sea area with significant gravity characteristics,and effectively shortened the range and reduced 46% redundant corners after optimization,which brought convenience and provided important guarantee for gravity matching navigation.