救灾无人机的优化A^(*)航迹规划算法  

Path Planning Algorithm of Disaster Relief UAV Based on Optimized A^(*)

作　　者：韩晓微[1] 韩震 岳高峰 崔建江[3] HAN Xiaowei;HAN Zhen;YUE Gaofeng;CUI Jianjiang(Institute of Science and Technology Innovation,Shenyang University,Shenyang 110044,China;College of Information Engineering,Shenyang University,Shenyang 110044,China;College of Information Science and Engineering,Northeastern University,Shenyang 110004,China)

机构地区：[1]沈阳大学科技创新研究院,沈阳110044 [2]沈阳大学信息工程学院,沈阳110044 [3]东北大学信息科学与工程学院,沈阳110004

出　　处：《计算机工程与应用》2021年第6期232-238,共7页Computer Engineering and Applications

基　　金：国家自然科学基金(61873338);沈阳市双百工程计划(Z18-5-013)。

摘　　要：针对抢险救灾中无人机派遣量及空间航迹规划最短路径相制约的问题,提出了一种优化A^(*)的航迹算法。通过设计的蛇形割圆法对圆形巡查区域进行路径规划,通过提取感兴趣区域的方法选择较佳搜索方向,提高搜索效率,采用加权评估法优化自然威胁权重系数,重定义航迹估计函数。将提出的方法在灾情巡查和生命勘测实际问题中进行性能检测。仿真结果表明,该算法能够合理分配无人机数量且能快速规划出较优飞行轨迹,实现巡查覆盖率达88.96%。In order to solve the problem that the dispatching quantity of UAV and the shortest path of space flight path planning are restricted.A track algorithm for optimizing A^(*)is proposed.The path planning of the circular inspection area is carried out by the designed serpentine cutting method.The better search direction is selected by extracting the region of interest,so as to improve the search efficiency of relief UAV.The weighted assessment method is used to optimize the natural threat weight coefficient and redefine the track estimation function.The proposed method is tested in the application to the actual problem of disaster inspection and life investigation for performance detection.The simulation results show that the proposed algorithm can reasonably allocate the number of UAV and quickly plan the optimal flight path,and realize the inspection coverage rate of 88.96 percent.

关 键 词：航迹规划 A^(*)算法 蛇形割圆法 感兴趣区域 加权评估法 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]