基于分层稀疏A~*算法的突防航迹规划研究  

Research on Penetration Route Planning Based on Hierarchical Sparse A~* Search

作　　者：刘大卫[1,2] 孙静 龙腾[3] 蔡祺生[3] 

机构地区：[1]中国兵器科学研究院,北京100089 [2]清华大学自动化系,北京100083 [3]北京理工大学宇航学院,北京100081

出　　处：《战术导弹技术》2017年第6期37-43,49,共8页Tactical Missile Technology

摘　　要：针对小型集群飞行器三维突防航迹规划面临的精确度、实时性、任务适应性和可实现性综合匹配问题,在稀疏A~*算法基础上,提出了基于分层策略的突防航迹规划算法,建立了三维航迹规划问题数学模型,给出了分层策略和突防航迹规划步骤。在算法扩展节点过程中采用支配检测方法,进一步提高了算法效率。在45 km×60 km规划区域内,典型想定下单机、四机和八机三维突防航迹规划长度分别为54.24 km、198.96 km和387.13 km,对应规划算法耗时分别为0.67 s、4.15s和11.04 s,同一任务场景下分层稀疏A~*算法规划用时是标准A~*算法的24.7%、14.2%和10.5%。仿真结果表明,该算法可在确保航迹规划精确度的前提下,大幅缩短航迹规划时间,具有较高的理论价值和工程适用性。Aiming at the problem of accuracy,real-time,task adaptability and achievable matching of three-dimensional penetrating route planning of small-scale cluster aircraft,on the basis of Sparse A~＊ Search（ SAS） algorithm,a penetration planning algorithm based on hierarchical strategy is proposed. The mathematical model of planning arithmetic is established,and the steps of stratification and penetration planning are given. The method of dominating detection is used in the process of expanding the nodes,which further improves the efficiency of the algorithm. In the planning area of 45 km × 60 km,the planning length of three-dimensional penetrating route of one,four and eight small-scale cluster aircrafts are54. 24 km,198. 96 km and 387. 13 km,and the corresponding planning algorithm time are 0. 67 s,4. 15 s and 11. 04 s,respectively. In the same task scenario,the hierarchical sparse A~＊ search algorithm is planned to be 24. 7%,14. 2%,and 10. 5% of the standard sparse A~＊ search algorithm. Simulation results show that the algorithm can greatly shorten the time of track planning,and has high theoretical value and engineering applicability,under the precondition of ensuring the accuracy of penetrating route planning.

关 键 词：分层稀疏A~＊算法 突防航迹规划 小型集群飞行器 

分 类 号：TJ761[兵器科学与技术—武器系统与运用工程]