基于分层策略的三维航迹快速规划方法  

3D Fast Route Planning Based on Hierarchical Strategy

作　　者：刘新[1] 周成平[1] 俞琪[1] 邵帅[1] 丁明跃[1,2] 

机构地区：[1]华中科技大学图像识别与人工智能研究所 图像处理与智能控制国家级重点实验室,武汉430074 [2]华中科技大学生命科学与技术学院图像处理与智能控制教育部重点实验室,武汉430074

出　　处：《宇航学报》2010年第11期2524-2529,共6页Journal of Astronautics

摘　　要：快速航迹规划能力是任务规划系统追求的目标之一。提出了一种基于分层策略的三维航迹快速规划方法。该方法分为两个层次:全局规划和局部规划。全局规划在综合利用战场信息的基础上,利用遗传算法规划出最优或次优的引导点集,该引导点列所在的区域为最优连通域,并且在该连通域内能找到可行航迹,全局规划利用引导点列大致指明了最优航迹的走向;局部规划根据全局规划提供的引导信息和战场信息,利用SAS(Sparse A Search)算法快速规划出满足攻击角度约束的平面可行航迹,高度规划采用速度较快的几何规划方法。仿真实验表明,该方法比SAS规划方法要快,且生成的三维航迹近似最优。The ability for fast path planning is one of objectives pursued by mission planning system.To solve the problem,a new 3D fast route planning algorithm is proposed based on hierarchical strategy.This method includes two levels：global planning and local planning.The global planning makes use of battlefield information and GA to plan an optimal or sub-optimal guided points set.The connection region determined by the guided points set contains feasible paths.The local planning uses the SAS（Sparse A＊ search） algorithm to plan a feasible flat path satisfying the attack angle constraints quickly according to the guided information provided by global planning in the connection region.The height planning of 3D route adopts geometric programming method.A Simulation experiment demonstrates this method is faster than traditional SAS algorithm and obtains a nearly optimal 3D route.

关 键 词：航迹规划 分层策略 稀疏A＊ 遗传算法 引导点 

分 类 号：V249[航空宇航科学与技术—飞行器设计]