一种针对运动目标的飞行器航迹搜索算法

A route planning algorithm for unmanned air vehicle towards moving target

鉴于目前大部份的航迹规划方法研究都局限于静止目标,提出了一种针对运动目标的飞行器航迹规划方法。该算法借鉴自学习实时A*搜索的思想,将飞行器的运动与航迹搜索结合在一起,可以对目标的每一步移动实时作出反映。通过在限定的时间内扩大寻优范围,该算法不但可以满足实时在线应用的要求,而且可以有效地避免不可行区域,并使生成的航迹更加优化。实验结果表明,本文算法能有效地处理各种航迹约束,实时地生成满意的三维航迹。

In contrast to the most existing route planners that are suitable for still targets,a new route planner for unmanned air vehicle towards moving target is proposed.Using the concept of Learning RealTime A search algorithm,and combining the flight of the vehicle with the process of route search,the novel algorithm can react to every move of the target.By searching the solutions in a larger area under limited time,the planner not only can meet the requirements of realtime inflight applications,but also can avoid infeasible areas effectively and enhance the performance of the resultant routes.It is shown from the experimental results that the routes are generated in realtime and are able to take into account various mission constraints.