基于剖分网格改进A^(*)算法的航迹规划研究  

Trajectory Planning Based on A^(*) Algorithm Improved by Subdivision Grid

作　　者：陈晓宏 储飞黄 方胜良 马昭 CHEN Xiaohong;CHU Feihuang;FANG Shengliang;MA Zhao(Space Engineering University,Beijing 101000China)

机构地区：[1]航天工程大学,北京101000

出　　处：《电光与控制》2022年第7期17-21,共5页Electronics Optics & Control

基　　金：173基础加强计划重点基础研究项目(2020-JCJQ-ZD-071)。

摘　　要：为实现飞行器远距离突防时自主航迹规划效率提升的目标,结合该任务背景下雷达威胁分布特点,采用剖分网格理论组织栅格环境,从底层表征方式出发改进A^(*)算法。利用剖分网格的编码表征组织结构得到方位信息,从而针对性地施加惩罚因子,指向性地改进实际移动路径代价计算方式,而后依据雷达威胁分布特点,通过编码比较位的变化分段变步长寻找子节点。仿真结果表明,改进算法的计算节点大大减少,在所寻航迹总的代价值近似的情况下,改进算法总能在威胁分布密集的环境中更迅速地规划出可行航迹,较好地适用于飞行器突防背景。In order to realize the goal of improving the efficiency of autonomous trajectory planning during long-range penetration of aircraftin view of the characteristics of radar threat distribution under the background of this missionthe subdivision grid theory is used to organize the grid environmentand the A^(*) algorithm is improved from the underlying characterization mode.The code of the split grid is used to characterize the organizational structure to obtain the orientation informationthereby imposing a penalty factor in a targeted mannerand the cost calculation method of the actual moving path is improved based on the directivity.Thenaccording to the characteristics of radar threat distributionthe sub-nodes are found by using the variable step size in sections based on the variation of comparative coding bit.The simulation results show that the node computation of the improved algorithm is greatly reducedand under the condition that the total cost value of the trajectory sought is approximatethe improved algorithm can always obtain a feasible trajectory more quickly in the environment with dense threat distributionwhich is well suited to the background of aircraft penetration.

关 键 词：自主航迹规划 剖分网格 远距离突防 威胁密集分布 惩罚因子 分段变步长 

分 类 号：V271.4[航空宇航科学与技术—飞行器设计] TP273[自动化与计算机技术—检测技术与自动化装置]