一种无人机实时航迹规划策略研究  

Research on a real-time path planning strategy of UAV

作　　者：李世晓[1] 朱凡[1] 张健[1] 刘杰[1] 隋晓奎 

机构地区：[1]空军工程大学航空航天工程学院,陕西西安710038 [2]哈尔滨飞行学院理论训练系,黑龙江哈尔滨150001

出　　处：《飞行力学》2014年第3期226-230,共5页Flight Dynamics

摘　　要：借鉴滚动优化思想提出了一种滚动规划的搜索策略以实现无人机的实时航迹规划。根据机载设备的探测范围和战场信息的处理时间,定量分析了滚动规划的空间和时间约束。结合"边规划、边执行"策略提出了同步滚动的机制。基于A*算法设计了滚动规划的搜索流程,实现了全局区域的实时航迹规划。仿真结果表明,提出的规划策略有效可行,可以通过实时探测战场态势完成航迹的实时规划。In order to realize the real-time path planning, this paper presents a rolling planning searchstrategy referring to the rolling optimization. According to the detection range of airborne equipments andthe processing time of battlefield information, the space and time constraints of the rolling planning werequantitatively analyzed. The mechanism of synchronous rolling was put forward, combining the＂ planningand executing＂ strategy. Then, the rolling planning search process was designed to realize the real-timepath planning of the global zone basing on the A ＊ algorithm. The simulation results show that the pro-posed planning strategy is effective and feasible. The real-time path planning of global zone can be real-ized by the teal-time detection of battlefield.

关 键 词：实时航迹规划 滚动规划 搜索策略 滚动机制 A＊算法 

分 类 号：V279[航空宇航科学与技术—飞行器设计] V249.1