基于稀疏A*算法的无人机航路规划方法

Method of Unmanned Aerial Vehicle Path Planning Based on Sparse A* Algorithm

针对多约束条件下三维空间航路规划问题,分析了三维规划空间的划分方法,综合考虑航程代价、爬升代价和威胁代价等因素,针对航路规划任务对各种指标的偏重程度,引入指标的权重系数,设计了代价函数,并编制了稀疏A*算法流程,对算法的有效性进行了仿真验证。验证结果表明:采用稀疏A*算法能够有效地解决多约束条件下的三维空间航路规划问题。

Aiming at the path planning of three dimensional space under constraint condition,analyzed the dividing method of three dimensional space, comprehensive consideration of voyage cost, cost to climb and threat to the price and other factors, tasks on the degree of lay particular stress on various indicators for path planning, the introduction of the index weight coefficient, designed the cost function, compiled the algorithm process, simulation is conducted on the effectiveness of the algorithm. The result shows that, using spare A* algorithm can effectively solve the constraint conditions of path planning problem in three dimensional space.