火力与指挥控制Issue(2)：156-160,5.
改进型Voronoi图和动态权值A*算法的无人机航迹规划
UAV Path Planning Based on Improved Voronoi Diagram and Dynamic Weights A*Algorithm
张淘沙 1鲁艺 1张亮 1吕跃1
作者信息
- 1. 空军工程大学航空航天工程学院，西安 710038
- 折叠
摘要
Abstract
Aiming at different threat level and different kinds of threat in actual operational environment,the path planning space on the basis of improved Voronoi diagram is established. Because evaluation function of A* algorithm requires different sensitiveness to indicator at different stage,based on traditional heuristic A*algorithm,dynamic weights A* algorithm is proposed to improve efficiency of path searching and combine the rapidity and the veracity of path planning. By Matlab software,the optimal path is acquired and the path is smoothed. The simulation shows the feasibility of improved Voronoi diagram and dynamic weights A*algorithm.关键词
无人机/航迹规划/改进型Voronoi图/动态权值A*算法/航迹平滑Key words
UAV/path planning/improved Voronoi diagram/dynamic weights A* algorithm/path smooth分类
军事科技引用本文复制引用
张淘沙,鲁艺,张亮,吕跃..改进型Voronoi图和动态权值A*算法的无人机航迹规划[J].火力与指挥控制,2015,(2):156-160,5.
