融合A*算法与动态窗口法的无人机路径规划研究  

Research on UAV Path Planning Combining A*Algorithm and Dynamic Window Method

作　　者：袁塘 李廷元[1] Yuan Tang;Li Tingyuan(School of Computer,Civil Aviation Flight University of China,Guanghan 618307)

机构地区：[1]中国民用航空飞行学院计算机学院,广汉618307

出　　处：《现代计算机》2022年第1期44-49,共6页Modern Computer

摘　　要：在无人机的应用当中,路径规划是其中一项核心技术,是确保无人机高效完成工作的重要保障。A*算法是常用的算法之一,它主导的是全局规划,在无人机航迹规划区域应用很普遍。动态窗口法在局部避障方面应用非常普遍,高度依赖于全局参数。为了给无人机在运行过程中规划一条好的路径,将A*与动态窗口算法融合在一起,建立无人机运动模型,确保全局最优路径的前提下,再进行局部环境的避障。In the application of UAVs,path planning is one of the main core technologies and an important guarantee to ensure that UAVs complete their work efficiently.The A*algorithm is one of the commonly used algorithms.It is leading the global planning and is widely used in the UAV trajectory planning area.The dynamic window method is very common in local obstacle avoidance and highly depends on global parameters.In order to plan a good path for the UAV during the operation process,A*and the dynamic window algorithm are combined to establish the UAV motion model to ensure the global optimal path,and then perform obstacle avoidance in the local environment.

关 键 词：路径规划 无人机 A*算法 动态窗口法 融合 

分 类 号：V279[航空宇航科学与技术—飞行器设计]