计算机工程与应用Issue(2)：58-64,7.DOI:10.3778/j.issn.1002-8331.1308-0305
无人机三维航路动态规划及导引控制研究
UAV three-dimensional dynamic route planning and guidance con-trol research
摘要
Abstract
Aiming to study three-dimensional dynamic route planning of UAV, this paper proposes a new A*optimization method in detail for engineering practical, effective solution space contains maneuverability, flight range, altitude and other constraints of UAV. Introducing heuristic weight coefficient to improve the search strategy, using method of adaptive algo-rithm weighted value of evaluation function to design has greatly increased the track point search efficiency, the guidance control law is designed in the paper. It can make the UAV follow the optimal path planning based on the optimization algo-rithm. At the same time the generated expectations of the control instruction give full consideration to the UAV itself of motor performance and real-time requirements, solve the problem between the path planning and path tracking. The simu-lation result shows that the method proposed in this paper is feasible and effective and the result obtained is easily to the application of engineering.关键词
无人机/三维航路/动态规划/搜索策略/加权值自适应/导引控制Key words
Unmanned Aerial Vehicle(UAV)/Three dimensional path/dynamic programming/search strategy/adaptive weighted value/guidance control分类
航空航天引用本文复制引用
赵锋,杨伟,杨朝旭,孙绍山..无人机三维航路动态规划及导引控制研究[J].计算机工程与应用,2014,(2):58-64,7.基金项目
西工大博士创新基金（No.200ZC55002）；航空科学基金（No.2011ZA53012）。 （）
