计算机应用研究2013，Vol.30Issue(8)：2464-2466,3.DOI:10.3969/j.issn.1001-3695.2013.08.055
无人飞行器航迹规划的工程化稀疏A*算法
Trajectory planning for unmanned aerial vehicle based on sparse A * search for practical engineering
杜继永 1张凤鸣 2吴鹏飞 1郝震3
作者信息
- 1. 空军工程大学装备管理与安全工程学院,西安710051
- 2. 空军工程大学训练部,西安710051
- 3. 中国人民解放军94270部队,济南250117
- 折叠
摘要
Abstract
This paper discussed researches applied sparse A* to efficiently construct feasible,yet agile,trajectories for UAV during a low altitude penetration mission for the practical engineering purpose.Considering the dynamic constraints of UAV,the requirements of mission and adversarial environment,it improved the performance of sparse A* from the following aspects:node search strategy,configuration of path node in memory,maintenance of the OPEN list.To satisfy the requirement of entering the target at a given angle,it proposed a virtual circle based method to resolve the constraint of the minimum turn radius of UAV.It also designed the information structure and storage mode of path node.And it enhanced the real time performance of sparse A* through the min-binary-heap approach to maintenance of the OPEN list.Finally,this paper applied this method to a UAV trajectory planning system and simulation results demonstrated the efficacy of the approach,关键词
无人飞行器/稀疏A*搜索/航迹规划/最小二叉堆Key words
unmanned aerial vehicle/ sparse A* search/ trajectory planning/ min-binary-heap分类
信息技术与安全科学引用本文复制引用
杜继永,张凤鸣,吴鹏飞,郝震..无人飞行器航迹规划的工程化稀疏A*算法[J].计算机应用研究,2013,30(8):2464-2466,3.
