| 一种飞行器在线航迹重规划算法 |
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| 引用本文： | 郑昌文,丁明跃,周成平,李春华.一种飞行器在线航迹重规划算法[J].华中科技大学学报(自然科学版),2003,31(2):90-92,113. |
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| 作者姓名： | 郑昌文 丁明跃 周成平 李春华 |
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| 作者单位： | 华中科技大学图像识别与人工智能研究所,图像处理与智能控制国家教育部重点实验室 |
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| 摘 要： | 提出一种动态稀疏A*搜索（DSAS）算法，该算法能够在具有预先未知威胁的飞行环境中实现航迹在线实时重规划。当飞行器上装备的探测器探测到飞行环境中有预先未知的威胁出现时，DSAS根据新的环境信息局部修正受到影响的航迹段来获得新的航迹。仿真结果证明了该方法的有效性。
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| 关 键 词： | 在线航迹重规划算法 无人飞行器 动态威胁回避 实时处理 动态稀疏A^＊搜索算法 |
| 文章编号： | 1671-4512(2003)02-0090-03 |
On-line route replanning for air vehicles |
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| Zheng Changwen Ding Mingyue Zhou Chengping Li Chunhua Zheng Changwen Doctoral Candidate, Inst. for Pattern Recognition & AI,Huazhong Univ. of Sci. & Tech.,Wuhan ,China..On-line route replanning for air vehicles[J].JOURNAL OF HUAZHONG UNIVERSITY OF SCIENCE AND TECHNOLOGY.NATURE SCIENCE,2003,31(2):90-92,113. |
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| Authors: | Zheng Changwen Ding Mingyue Zhou Chengping Li Chunhua Zheng Changwen Doctoral Candidate Inst for Pattern Recognition & AI Huazhong Univ of Sci & Tech Wuhan China |
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| Institution: | Zheng Changwen Ding Mingyue Zhou Chengping Li Chunhua Zheng Changwen Doctoral Candidate, Inst. for Pattern Recognition & AI,Huazhong Univ. of Sci. & Tech.,Wuhan 430074,China. |
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| Abstract: | The route replanning of unmanned air vehicles (UAVs) in uncertain environments was studied with the proposal of a novel Dynamic Sparse A* Search (DSAS) algorithm. This algorithm can be used for on line route re planning in flying environment with unknown threat. When the sensor equipped on UAV perceives an unforeseen threat, the algorithm can correct the route locally to obtain the globally optimal route by new information acquired. Based on all known information at every moment, the DSAS algorithm can generate desirable optimal route. |
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| Keywords: | unmanned air vehicles route planning dynamic threat avoid real time processing |
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