基于LPA^(*)优化算法的察打一体无人机远距离飞行航线规划  

Long-distance flight route planning of surveillance and strike integrated UAV based on LPA^(*) optimization algorithm

作　　者：郭晓宇 鲁旭涛 Guo Xiaoyu;Lu Xutao(School of Mechanical and Electrical Engineering,North University of China,Taiyuan 030051,China)

机构地区：[1]中北大学机电工程学院,太原030051

出　　处：《战术导弹技术》2023年第4期148-155,164,共9页Tactical Missile Technology

基　　金：山西省青年科技基金(201801D221236)。

摘　　要：针对大型察打一体无人机在动态环境下远距离自主飞行过程中航线规划速度慢、对航线中出现的意外情况无法及时规避等问题,提出了基于LPA^(*)算法的远距离无人机动态航线规划算法。通过构建飞行空域地图模型,对不安全空域进行地图标注,无人机首先预存静态理想环境下的航线。在未出现动态危险空域前,LPA^(*)算法将引导无人机继续遵循静态预规划的航线飞行,机载雷达只探测航线方向空域节省资源;当机载雷达侦测到已规划航线上出现动态危险空域时,LPA^(*)算法启用算法预警,提前引导无人机躲避动态障碍,并对后续航线进行动态规划。仿真试验结果表明,LPA^(*)算法在动态环境下,相比于经典LPA^(*)算法用时缩短了72.41%,提前20 km避开了危险空域,降低了出现意外事故的概率。Aiming at the problems of slow route planning speed and delayed avoidance of unexpected situations in the course of long-distance autonomous flight of large surveillance and strike integrated UAV in dynamic environment,a dynamic route planning algorithm for long-distance UAV based on LPA^(*)algorithm is proposed.The map model of flight airspace is built to mark the unsafe airspace,and the route in the static ideal environment is stored in UAV in advance.Before the dynamic dangerous airspace appears,the UAV will be guided through LPA^(*)algorithm to continue to follow the static pre-planning route,and the airborne radar will only detect the airspace in the direction of the route to save resources. When the airborne radar detects thedynamic dangerous airspace in the planned route, LPA^(*) algorithm starts algorithm warning to guide the UAV toavoid dynamic obstacles in advance and make dynamic planning for the subsequent route. Compared withclassical LPA^(*) algorithm, the simulation results show that the route planning time can be shortened by 72.41%with LPA^(*) algorithm in dynamic environment, and the dangerous airspace can be avoided by 20 km in advanceto reduce the probability of accidents.

关 键 词：无人机飞行 路径规划 动态规划 预规划算法 栅格地图 LPA^(*)算法 A^(*)算法 

分 类 号：V279[航空宇航科学与技术—飞行器设计] V249