改进A*算法的多约束航迹规划  

Multi-Restriction Path Planning Based on Improved A* Algorithm

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,西安710038 [2]哈尔滨飞行学院理论训练系,哈尔滨150001

出　　处：《电光与控制》2014年第7期36-40,89,共6页Electronics Optics & Control

摘　　要：针对当前航迹规划的研究偏于理论、规划效率不高的问题,从工程应用出发,分析了航迹规划的多种约束条件,提出了一种多约束条件下的快速航迹规划方法,设计了基于航向角有限离散变化思想的工程化搜索策略;改进了A*算法流程,采用结构体链表式的最小二叉堆技术管理OPEN表和CLOSE表,显著提高算法的规划效率;提出了删除航路点的航迹优化方法,对传统A*算法和改进的算法分别进行了仿真。结果表明,在多约束条件下,该方法显著提高了规划效率。Considering that the path planning research generally focused on theoretical study and the plan efficiency is not high, we analyzed the multiple restrictions for path planning from the point of engineering application, and proposed a rapid path planning method under strategy was designed based on the limited discrete changing multiple restrictions. An engineering search idea of course angle. The flow path of A ＊ algorithm was improved. The minimum binary heap in structure list way was applied to manage the OPEN list and CLOSED list, which improved the search efficiency of the algorithm notably. An optimization method deleting some path nodes was proposed. Simulations were carried out respectively on traditional algorithm and the improved algorithm. The results indicate that the plan efficiency of the later can be improved considerably under the condition of multiple restrictions.

关 键 词：无人机 航路优化 多约束 A＊算法 搜索策略 最小二叉堆 

分 类 号：V249.4[航空宇航科学与技术—飞行器设计] TP391.9[自动化与计算机技术—计算机应用技术]