无人机低空突防航迹规划算法研究  

Study on the Route Planning Algorithm for UAV's Low Altitude Penetration

作　　者：安玉娇[1] 江辉军 郑根营 马煜[3] 

机构地区：[1]中国飞行试验研究院飞机所 [2]中航工业第一飞机设计研究院飞控液压所 [3]中国重型机械研究院有限公司

出　　处：《测控技术》2011年第12期86-90,共5页Measurement & Control Technology

摘　　要：结合低空突防中的地形跟随/地形回避/威胁回避(TF/TA2)技术,在分析无人机各种机动性能以及A-Star算法的基础上,提出了一种基于局部空间搜索最优节点的方法,将A-Star算法进行稀疏化处理;设计了更贴近实际的航迹代价计算方法,将算法与数字地形相结合进行仿真计算。仿真结果表明,设计的航迹规划算法兼顾了算法效率、航迹质量以及无人机机动特性等多方面因素,充分缩减了规划空间,提高了算法速度,生成的航迹在一定程度上满足最优性和可飞性。A new approach to getting optimal nodes in a certain local space is designed based on the integration of terrain following/terrain avoidance/threat avoidance（TF/TA2）, the analysis of various UAV＇ s maneuvering performance and the characteristic of A-Star algorithm. The key of the new approach is to simplify A-Star algo- rithm processing. In addition, a more practical method of calculating the cost of UAV＇ s route is designed. Fi- nally, the simulation results of the algorithm using digital terrain are given. The results show that the route plan- ning algorithm can take the efficiency, route quality and characteristics of UAV＇ s mobility into account well. Not only it reduces the route-planning space fully, but also it improves the speed of the algorithm and meets the optimal ability.

关 键 词：无人机 低空突防 航迹规划 稀疏A-Star算法 

分 类 号：V249[航空宇航科学与技术—飞行器设计]