一种跟踪移动目标的路径规划方法  

One Path Planning Method for Tracking the Moving Target

作　　者：李建[1] 钱海力 Li Jian;Qian Hai-li(The 28^th research institute of china electronics technology group corporation,Jiangsu Nanjing 210007)

机构地区：[1]中国电子科技集团公司第二十八研究所,江苏南京210007

出　　处：《电子质量》2020年第12期7-12,共6页Electronics Quality

摘　　要：在静态目标路径规划问题中,可以直接以路径长度衡量规划效果,而对于移动目标跟踪问题,"缩短完成任务所需的时间"通常比"缩短完成任务所需的路径长度"更重要。该文提出一种双向Dijkstra搜索算法,将移动目标跟踪问题转化为双向搜索的时间/空间相交问题进行求解。理论分析证明,在目标运动情报已知下,新算法能够给出使跟踪任务完成时间最短的跟踪方路径和运动方案。通过大样本测试集仿真实验,对新算法的性能进行了验证,并针对典型应用场景进行了算例说明。In the path planning for static target,the path length can be directly used as the evaluation index of the planning effect.But for the moving target tracking problems,shortening the task time is often more important than shortening the length of the task path.In this paper,a bidirectional Dijkstra search algorithm is proposed to transform the moving target tracking problem into the time/space intersection problem of bidirectional search.Theoretical analysis shows that the new algorithm can provide the tracking path and motion scheme which guarantee the shortest task time,when the target motion information is known.The performance of the new algorithm is verified by a large sample test set simulation experiment,and examples are given for typical application scenarios.

关 键 词：路径规划 移动目标跟踪 任务时间最短 双向搜索 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]