基于3DSAS的多约束多航迹协同规划与搜索方法

为解决多航迹规划中的避撞与协同问题，提出一种三维环境下的基于稀疏A*的多航迹协同规划方法。该方法设计了一种规划框架，分别在航迹搜索前与搜索过程中考虑多航迹的协同问题。在航迹搜索过程中，不但结合单条航迹原有的约束条件，同时还进行了航迹间的碰撞检测，并且通过航迹的协同违背量等因素来进行启发式搜索。该方法可以有效处理各类约束条件，简化启发因子，从而获得更好的规划性能。

Cooperative planning for multiple trajectories with multiple constraints based on 3DSAS

To solve the coordination of rendezvous and collision avoidance of multiple air vehicles,a novel cooperative trajectory planning method based on sparse A* algorithm in 3D environment is proposed.This method introduces a new planning frame,which takes the coordination problem into account before and during the trajectory searching process.During the searching process,the method gives considerations to both the original constrains of every trajectory and the collision check between multiple trajectories.Meanw...