基于改进启发函数的A^(*)算法的无人机三维路径规划

UAV 3D Path Planning Based on A^(*)Algorithm with Improved Heuristic Function

为满足无人机在复杂环境下的实时三维路径规划需求,针对传统A^(*)算法在进行三维路径规划时存在的实时性不高、计算量大以及内存消耗严重的问题,对A^(*)算法的启发函数进行优化处理,调整启发函数权重值,将启发函数作为底数进行指数运算,从而达到提高搜索效率的目的。仿真实验结果表明:通过调整启发函数的权重因子,使算法用时减少了51.69%,搜索的栅格数量降低了45.5%;通过优化启发函数指数大小,使算法在用时上减少了50.56%,搜索的栅格数量降低了45.5%。从而验证了改进的A^(*)算法相对传统A^(*)算法能减少路径搜索时长并降低路径规划代价,提高路径搜索效率。

In order to meet the real-time three-dimensional path planning requirements of unmanned aerial vehicles(UAVs)in complex environments,the heuristic function of the A^(*)algorithm is optimized to address the problems of low real-time performance,large amount of calculation and serious memory consumption in the traditional A^(*)algorithm when performing three-dimensional path planning.The weight value of heuristic function is adjusted and the heuristic function is used as the base for exponential operation,so as to achieve the purpose of improving the search efficiency.The simulated results show that the algorithm time is reduced by 51.69%and the number of searched grids is reduced by 45.5%after adjusting the weight factor of heuristic function.By optimizing the exponential size of the heuristic function,the algorithm time is reduced by 50.56%and the number of searched grids is reduced by 45.5%.This verifies that the improved A^(*)algorithm can reduce the path search time and path planning cost compared with the traditional A^(*)algorithm,and improve the path search efficiency.