一种飞行器在线航路重规划方法  

A Method of Re-planning Aerocraft Online Route

作　　者：曾剑新[1] 周焰[2] 何彦杰[1] 

机构地区：[1]空军雷达学院研究生管理大队,武汉430019 [2]空军雷达学院四系,武汉430019

出　　处：《空军雷达学院学报》2010年第5期333-336,共4页Journal of Air Force Radar Academy

基　　金：国家自然科学基金资助项目(70701038)

摘　　要：针对飞行器在线航路重规划的安全性和实时性要求,将稀疏A*算法与模型预测控制中的滚动时域优化的思想相结合,提出了一种在线航路重规划方法.在飞行器探测到新的威胁时,把探测到威胁时的该段航路前面一定距离的节点作为新的起始点,并以没有进入威胁区的后续最近航路点作为目标点,使用稀疏A*算法规划出一段长为N倍于最小步长R的航路,而后飞行器沿上述规划好的航路只飞行R距离.仿真结果表明:该方法通过每规划N步,执行一步,对受到威胁影响的参考航路进行局部修改,快速避开新出现的威胁,满足实时性要求.In order to meet the requirements for real-time and safety of re-planning aerocraft online route,by combining the sparse A＊ algorithm with the idea of optimal rolling time domain in model predictive control,a method of re-planning online route was proposed.When the sensor equipped on aerocraft detects an unforeseen threat in this passage of route,let the point which is a certain distance away from the passage be a new starting point,and set the following nearest route point out of the threat region as the target point,the sparse A＊ search algorithm is used to layout a route whose length is N times of the least step R,and consequently,aerocraft would only fly a distance R along the programmed route.Simulation results show that the proposed algorithm could avoid newly emerging threat and meet the requirement for real-time by carrying out one step after planning N steps to modify locally the reference routes threatened.

关 键 词：飞行器 航路规划 在线重规划 稀疏A＊算法 模型预测控制算法 

分 类 号：TN957[电子电信—信号与信息处理]