指挥控制与仿真2018，Vol.40Issue(2)：65-71,7.DOI:10.3969/j.issn.1673-3819.2018.02.012
基于变步长稀疏A*搜索和MPC的多无人机层次化协同航迹规划
A Hierarchical Optimization Strategy of Trajectory Planning Based on Variable Step Size SAS and MPC for UAVs
摘要
Abstract
A hierarchical optimization strategy based on path planning and trajectory planning process is presented in this paper to solve the trajectory planning problem of multiple unmanned aerial vehicles(UAV).Firstly,a model of path planning considering obstacle constrains is established,and a modified Sparse A ? Algorithm(SAS)is proposed to shortcomings of fixed step adaptability to environmental changes. Secondly, The trajectory planning strategy is established based on Decen-tralized Model Predictive Control(DMPC). Lastly, the hierarchic optimization strategy is simulated with MATLAB. Compared with the traditional trajectory optimization methods,the strategy achieves a balance between better solution and re-al-time performance with stronger adaptability.关键词
无人机/路径规划/轨迹规划/DMPCKey words
UAV/path planning/trajectory planning/DMPC分类
航空航天引用本文复制引用
薄宁,李相民,代进进,唐嘉钰..基于变步长稀疏A*搜索和MPC的多无人机层次化协同航迹规划[J].指挥控制与仿真,2018,40(2):65-71,7.
