基于启发式A＊算法的飞行器三维航路规划  

On 3-D Path Planning for Air Vehicle Based on Heuristic A＊ Algorithm

作　　者：王志科[1] 朱凡[1] 彭建亮[1] 

机构地区：[1]空军工程大学工程学院,西安710038

出　　处：《电光与控制》2009年第6期30-33,65,共5页Electronics Optics & Control

摘　　要：提出了一种基于启发式A*算法的三维航路规划方法并进行了仿真验证。首先对地形的高程栅格数据进行综合平滑处理,建立满足飞行器机动性能的安全飞行曲面,结合威胁数据的量化模型,采用改进的A*算法在安全飞行曲面上规划出三维飞行航路,并对搜索出的航路进行了优化和平滑处理。仿真结果显示,算法简单快速,能满足飞行器执行不同任务的需要,易于工程实现。A 3-D path planning method for air vehicle based on heuristic A＊ algorithm was proposed and simulated. At first, the altitude raster data was processed by integrated terrain elevation smoothing algorithm, and a safe flight surface was built up which satisfied the maneuverability of the air vehicle. Considering also the mathematical model of threat factors, an improved A＊ algorithm was used to plan 3D vehicle paths on the safe flight surface. Then the planned paths were optimized and smoothed. Simulation result indicated the method could obtain the optimal algorithm is simple, efficient and easily realized in path in 3-D environment and the path planning engineering, which could adapt to different mission requirements of the air vehicle.

关 键 词：启发式A＊算法 航路规划 威胁模型 数字地图 低空突防 航路平滑 

分 类 号：V271.4[航空宇航科学与技术—飞行器设计]