| 基于多步寻优搜索的无人机航迹重规划算法 |
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| 引用本文： | 李季,孙秀霞.基于多步寻优搜索的无人机航迹重规划算法[J].系统工程与电子技术,2009,31(10):2510-2512,2552. |
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| 作者姓名： | 李季 孙秀霞 |
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| 作者单位： | 空军工程大学工程学院, 陕西, 西安, 710038 |
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| 摘 要： | 针对无人机路径实时重规划的安全性要求,将自学习实时A*搜索算法与模型预测控制的思想相结合,提出了一种多步寻优搜索算法.解决了无人机在飞行过程中遇到突然出现的威胁时的航迹重规划难题,给出了应用该算法的具体步骤.通过仿真结果证明了该算法的可行性.
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| 关 键 词： | 无人机 航迹重规划 多步寻优搜索 自学习实时A+搜索算法 模型预测控制 |
| 收稿时间： | 2008-03-11 |
Route replanning's method for unmanned aerial vehicles based on multi-step optimizing search algorithm |
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| LI Ji,SUN Xiu-xia.Route replanning's method for unmanned aerial vehicles based on multi-step optimizing search algorithm[J].System Engineering and Electronics,2009,31(10):2510-2512,2552. |
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| Authors: | LI Ji SUN Xiu-xia |
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| Institution: | Engineering Coll., Air Force Engineering Univ., Xi'an 710038, China |
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| Abstract: | In order to meet the real-time requirement for the replanning problem of unmanned aerial vehicles(UAVs),the replanning strategy for safe flight is proposed.A multi-step optimizing-search algorithm is presented which combines self-learning real-time * algorithm with model predictive control.It mainly resolves the pop-up threats in route replanning,and the particular applying approach for this algorithm is presented.Finally a numerical simulation demonstrates the feasibility of the multi-step optimizing search algorithm. |
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