基于A~*定长搜索算法的多无人机协同航迹规划

基于多无人机同时作业情况下的航迹规划问题,提出了一种A*定长航迹搜索算法.该算法通过选择代价值最接近给定值的节点作为最佳节点,得到定长规划航迹,接着进一步通过限定最佳节点的选择范围,改善了航迹的可飞性.仿真结果表明,利用该算法规划的定长航迹长度误差可以控制在1.4％以内,协同航迹长度误差可以控制在0.8％以内,能够满足多无人机同时到达的一般要求.

Multi-UAVs cooperative path planning based on A* fixed length search algorithm

An improved A* algorithm for fixed length path searching was proposed based on the path planning problems of multiple unmanned aerial vehicles(UAVs) operating simultaneously.A path with fixed length was obtained by choosing nodes with costs closest to given value as best nodes in the algorithm.Then,the path was smoothed by limiting the range of the best nodes choosing from in the algorithm.Simulation results show that length error of the fixed length path obtained from the algorithm can be controlled within 1.4%,and length error of collaborative paths is less than 0.8%.It basically meets the requirements of multi-UAVs arriving at the same time.