无人机动态环境实时航迹规划

提出了一种基于实时A*搜索的无人机实时航迹规划算法。该算法将飞行器运动与航迹搜索相结合,在飞行器飞行过程中实时规划出下一段航迹;在搜索过程中,使用了多步寻优搜索的方法,相比单步搜索生成的航迹更加优化;使用最小转弯半径对生成的折线进行连接,使路径平滑可飞;针对算法局限性,给出一种改出局部最优点的策略。最后经仿真证明了该算法能够较好地满足规划要求。

Real-time route planning algorithm for unmanned aerial vehicles in dynamic environment

Using the concept of real-time A*,this paper presents a real-time route planning algorithm for unmanned aerial vehicles(UAVs).Combined with motion and route planning,the next suboptimal route is generated in the course of flying.Compared with the single step searching,the multi-step searching is used to generate a more optimized route.The arc segment technology is used to smooth the route.An approach is presented to guide UAVs to voyage the local optimal point in a short time.Finally a numerical simulation demonstrates the efficiency of the algorithm.