| 一种利用改进A*算法的无人机航迹规划 |
| |
| 引用本文： | 占伟伟,王伟,陈能成,王超.一种利用改进A*算法的无人机航迹规划[J].武汉大学学报(信息科学版),2015,40(3):315-320. |
| |
| 作者姓名： | 占伟伟 王伟 陈能成 王超 |
| |
| 作者单位： | 1武汉大学测绘遥感信息工程国家重点实验室湖北 武汉 430079 |
| |
| 基金项目： | 国家863计划资助项目(2013AA01A608);国家973计划资助项目(2011CB707101)~~ |
| |
| 摘 要： | 提出了一种改进的A*算法解决大范围三维战场环境的无人机航迹规划问题。针对低空突防中无人机需满足生存率高、耗油量小等要求,算法综合考虑了航线高度、被探测概率、航线长度等权重因子,在该目标空间中搜索一条两个航路点之间的最优航线。同时为了满足UAV安全高度、升降率、转弯半径等性能约束,提出了一系列航线优化算法,得到最终的可飞航线。
|
| 关 键 词： | 三维 无人机 航迹规划 A*算法 航迹优化 |
| 收稿时间： | 2013-06-26 |
Path Planning Strategies for UAV Based on Improved A*Algorithm |
| |
| ZHAN Weiwei;WANG Wei;CHEN Nengcheng;WANG Chao.Path Planning Strategies for UAV Based on Improved A*Algorithm[J].Geomatics and Information Science of Wuhan University,2015,40(3):315-320. |
| |
| Authors: | ZHAN Weiwei;WANG Wei;CHEN Nengcheng;WANG Chao |
| |
| Institution: | 1State Key Laboratory of Information Engineering in Surveying Mapping and Remote Sensing Wuhan University Wuhan 430079 China |
| |
| Abstract: | This study proposes a modified A* algorithm to solve the problem of realtime unmanned air vehicle(UAV) path planning in a large 3D battlefield environment. Since the UAV has to meet the requirements of high survival rate and low fuel consumption in low-altitude penetration，the algorithm took the flight altitude，detected probability and flight length into consideration to search the optimal flight path between two waypoints. Meanwhile，to satisfy the UAV perfor-mance constraints，such as safety altitude，rate of climb，and radius of turn，the author suggested a series of optimization algorithms to get the final flyable path.Experimental results show that these algorithms have good convergence and high efficiency andprovided a optimal trajectory for decision-makers. |
| |
| Keywords: | |
| 本文献已被 CNKI 等数据库收录！ |
| 点击此处可从《武汉大学学报(信息科学版)》浏览原始摘要信息 |
| 点击此处可从《武汉大学学报(信息科学版)》下载免费的PDF全文 |
