基于改进ARA*算法的无人机在线航迹规划

针对无人机三维在线航迹规划对算法速率、航迹最优性的需求,提出了基于改进ARA^*算法的无人机在线航迹规划方法。首先,建立无人机三维航迹规划的数学模型;然后,提出了节点空间约简策略、局部启发项策略以提高算法收敛速率,并针对复杂规划环境提出了启发因子自适应递减策略。仿真结果表明,所提算法能够快速、稳定地生成首条可行航迹,并在剩余时间内不断提高航迹质量,可应用于不同类型的在线规划任务,动态地适应规划时间与航迹最优性的要求。

UAV online path planning based on improved ARA^(* )algorithm

To meet the requirements of algorithm speed and path optimality for 3 D online path planning of UAV,a path planning method based on improved ARA^(* ) algorithm was proposed.Firstly,the mathematical model of the UAV three-dimensional path planning was established.Then,node space reduction strategy and local heuristic strategy were proposed to improve the algorithm’s convergence rate,and an adaptive decrement strategy of heuristic factors for complex planning environments was proposed.The simulation results show that the proposed algorithm can quickly and stably generate the first feasible path and continuously improve the quality of the path in the remaining time,and can be applied to different types of online planning tasks and dynamically adapt to the requirements of planning time and optimal path.