基于改进A^*算法的无人机路径规划研究  

Research on UAV Path Planning Based on Improved A^* Algorithms

作　　者：姜月秋[1] 李紫嫣 关启学[1] 关世杰 JIANG Yueqiu;LI Ziyan;GUAN Qixue;GUAN Shijie(Shenyang Ligong University, Shenyang 110159, China)

机构地区：[1]沈阳理工大学,沈阳110159

出　　处：《兵器装备工程学报》2020年第9期160-164,共5页Journal of Ordnance Equipment Engineering

基　　金：国家自然科学基金项目(61501307)。

摘　　要：针对无人机在野外复杂环境下传统的A^*算法在路径规划的过程中存在的内存开销大、运算时间长等问题,提出了一种新的算法。首先运用栅格法对无人机的任务空间环境进行环境建模,利用IDA算法进行路径规划,对传统A^*算法启发函数进行了相应的改进,提高了节点的搜索效率,并且结合双向搜索策略进一步降低了在路径规划过程中的节点搜索个数。通过仿真,对IDA算法、传统A^*算法和双向A^*算法在搜索时间和节点搜索个数等性能指标进行了比较和分析,验证了IDA算法的有效性。A new algorithm was proposed to solve the problems of large memory cost and long operation time in the process of path planning of traditional A^*algorithm for UAV in the field complex environment.The grid method was used to model the environment of the UAV’s task space environment,and then the IDA algorithm was used to plan the path.The IDA algorithm improves the heuristic function of the traditional A^*algorithm to improve the search efficiency of the nodes,and the combination of the two-way search strategy further reduces the number of nodes in the path planning process.Through the simulation,the performance indexes of IDA algorithm,traditional A^*algorithm and bi-directional A^*algorithm were compared and analyzed,and the effectiveness of IDA algorithm was verified.

关 键 词：无人机 路径规划 A^*算法 IDA算法 栅格法 

分 类 号：V279.2[航空宇航科学与技术—飞行器设计]