基于改进A^(*)算法的无人机避障路径规划  

Obstacle Avoidance Path Planning for UAV Based on Improved A^(*)Algorithm

作　　者：李晓辉[1] 苗苗 冉保健 赵毅 李刚[1] LI Xiao-Hui;MIAO Miao;RAN Biao-Jian;ZHAO Yi;LI GANG(School of Electronics and Control Engineering,Chang’an University,Xi’an 710064,China)

机构地区：[1]长安大学电子与控制工程学院,西安710064

出　　处：《计算机系统应用》2021年第2期255-259,共5页Computer Systems & Applications

基　　金：陕西省科技厅重点产业创新链项目(2020ZDLGY-09-03,2019ZDLGY03-01);西安市科技项目(201805045YD23CG29)。

摘　　要：近年来,物流行业的飞速发展,运输是物流的重要环节之一,根据数据显示,运输的成本占据整个物流成本的50%以上.无人机的使用有效的控制了运输成本,合理规划物流无人机的飞行路线,也起着至关重要的作用.在物流无人机的航迹规划中,必须保证无人机飞行过程中能够准确避开禁飞区.本文基于A^(*)算法,结合多种类型的禁飞区,设计出一种改进算法,能够找到任意两客户点间无人机避障飞行的最优路线.仿真结果表明,本文所设计的算法能够有效解决多类型禁飞区并存的无人机避障路径规划问题.In recent years,transportation has been playing an important role in blooming logistics.Indeed,transportation accounts for more than 50%of the whole logistics cost.Express UAVs could effectively reduce the cost.Moreover,proper path-planning of UAV is also essential.Particularly,UAV should accurately avoid non-fly zones during flight.In this study,the obstacle avoidance path planning of UAVs is comprehensively discussed.With the improved A^(*)algorithm and considering various obstacles,we propose a method that can find the optimal obstacle avoidance path between any two customer points.The simulation results prove the effectiveness of solving the obstacle avoidance path planning problem for express UAVs.

关 键 词：无人机 路径规划 避障 A^(*)算法 

分 类 号：V279[航空宇航科学与技术—飞行器设计] V249[自动化与计算机技术—控制理论与控制工程] TP18[自动化与计算机技术—控制科学与工程]