科技创新与应用2026，Vol.16Issue(4)：31-34,4.DOI:10.19981/j.CN23-1581/G3.2026.04.007
改进A*与IDWA的无人机动态航迹规划融合算法
摘要
Abstract
In order to find the best algorithm for UAV(unmanned aerial vehicle)trajectory planning and effectively solve the phenomenon that the A* algorithm has multiple turning points and redundant trajectory lengths in the two-dimensional plane,a fusion algorithm for UAV dynamic trajectory planning is proposed that combines the improved A* algorithm and the improved dynamic window approach(IDWA)method.The A* algorithm is improved based on extended neighborhood search.From three aspects:kinematic model construction,velocity sampling,and evaluation function improvement,the improved A* algorithm and IDWA method are fused together to obtain a new fusion improved algorithm.Finally,static obstacles and dynamic obstacles are used to verify the application performance of the fusion improved algorithm.The results show that when there are static obstacles,the UAV designed using the improved fusion algorithm takes less time to plan its path and has a shorter track length.In the case of dynamic obstacles,the UAV can automatically adjust its course at the starting point and effectively avoid dynamic obstacles,confirming the application value of the improved A* and IDWA fusion algorithm in UAV trajectory planning.关键词
改进A*算法/动态窗口法/无人机航迹规划/融合算法/环境障碍物分布率Key words
improved A* algorithm/dynamic window method/UAV trajectory planning/fusion algorithm/distribution rate of environmental obstacles分类
航空航天引用本文复制引用
叶亚宁..改进A*与IDWA的无人机动态航迹规划融合算法[J].科技创新与应用,2026,16(4):31-34,4.基金项目
2024年度丽水市科学技术局市公益研究项目(2024SJZC099)阶段性成果 （2024SJZC099）
