一种基于改进A*算法的三维航迹规划方法

采用了一种改进的网格A*算法进行了飞行器的三维航迹规划。将启发函数中的直线距离替换为折距,对其进行了改进。改进后的启发函数有效地减少了规划过程中扩展的节点数,从而减少了搜索时间,并且扩展节点时,只选择满足飞行器的飞行性能约束的邻点,减小了搜索空间。仿真结果表明,应用该规划方法,飞行器能够进行在线实时三维航迹规划。

Three-Dimensional Route Planning Based on an Advanced A*Algorithm

An advanced grid A* search algorithm was proposed to accomplish the flight 3D route planning.The fold distance of the heuristic function was used instead of its direct distance.The total number of expanded nodes in planning had been reduced by using the advanced heuristic function,computational time also had been shorten.When expanding nodes,only those neighbor nodes were selected that satisfy dynamic motion constraints of the vehicle,the search space had been minished.The simulation results showed the method could work for real-time 3D route planning.