| 改进的快速扩展随机树在航迹规划中的应用 |
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| 引用本文： | 周克强,高晓光,白奕. 改进的快速扩展随机树在航迹规划中的应用[J]. 系统工程与电子技术, 2006, 28(10): 1538-1540 |
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| 作者姓名： | 周克强 高晓光 白奕 |
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| 作者单位： | 西北工业大学电子信息学院,陕西,西安,710072 |
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| 基金项目： | 国家自然科学基金重大研究计划(90205019)，高等学校博士学科点专项科研基金(20020699001)资助课题 |
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| 摘 要： | 通过在快速扩展随机树(rapidly-exploring random tree)算法的基础上融入状态-时间空间(state-timespace)的思想,使改进后的算法能够有效地处理动态环境中的航迹规划问题。仿真试验首先采用四元素法建立航天飞行器的六自由度动力学模型,在三维空间中验证该算法搜索高维空间的能力。其次运用改进的算法在动态环境中进行航迹规划试验,证明了该算法的有效性。
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| 关 键 词： | 快速扩展随机树 状态-时间空间 航迹规划 |
| 文章编号： | 1001-506X(2006)10-1538-03 |
| 修稿时间： | 2005-08-16 |
Trajectory planning using improved rapidly-exploring random tree |
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| ZHOU Ke-qiang,GAO Xiao-guang,BAI Yi. Trajectory planning using improved rapidly-exploring random tree[J]. System Engineering and Electronics, 2006, 28(10): 1538-1540 |
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| Authors: | ZHOU Ke-qiang GAO Xiao-guang BAI Yi |
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| Abstract: | A tool called rapidly-exploring random tree is presented.It is suitable for solving trajectory planning problem in a dynamic environment based on the concept of state-time space.Firstly,the experiments are made in 3-dimensional space using a six-degree-of freedom spacecraft model represented by unit quaternion.Experimental results indicate that the proposed scheme has the capability of searching high-dimensional space.Secondly,an experiment is performed in a dynamic environment with moving obstacles with known trajectories,and the result shows that the improved algorithm is effective. |
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| Keywords: | rapidly-exploring random tree state-time space trajectory planning |
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