基于A*算法的无人机智能避障路径及实时航路规划研究  

Intelligent obstacle avoidance path and real-time navigation route planning of UAV based on A∗algorithm

作　　者：李士途[1] 姜灵芝[2] LI Shitu;JIANG Lingzhi(AVIC The First Aircraft Institute,Xi’an 710089,China;Xi’an Aeronautical Polytechnic Institute,Xi’an 710089,China)

机构地区：[1]中国航空工业集团公司第一飞机设计研究院,西安710089 [2]西安航空职业技术学院,西安710089

出　　处：《自动化与仪器仪表》2024年第12期67-71,共5页Automation & Instrumentation

摘　　要：无人机在社会的各个领域得到了广泛应用,但其在飞行过程中可能会遇到各种障碍物。针对无人机的智能避障和路径规划问题,研究首先采用A*算法获取指定点间的避障路径,接着利用Dubins路径进行压缩,以获取避障航路点集。最后连接相邻航路点形成最终的无人机避障路径。结果显示,在二维平面场景仿真实验中,A*算法结合Dubins路径的平均运行时间为0.6836 s,最大波动值仅为0.032 s。路径长度稳定在938.2 mm。在三维空间场景中,A*算法的平均运行时间为0.056 s,且其路径长度均为30.2 cm。与其余算法相比,A*算法的运行时间最短,避障路径最短,且其稳定性最高。综合来看,研究所提的避障路径及实施航路规划方法具有显著的性能优势,其为现代无人机领域的发展提供了可靠的技术支持。Uav has been widely used in various fields of society,but it may encounter various obstacles during flight.In view of the intelligent obstacle avoidance and path planning of UAV,A∗algorithm is used to obtain the obstacle avoidance path between specified points,and then Dubins path is used to compress the set of obstacle avoidance points.In the end,connect adjacent waypoints to form the final obstacle avoidance path for the drone.The results show that the average running time of the Dubins path is 0.6836 s,and the maximum fluctuation value is only 0.032 s.The path length was stabilized at 938.2.In the 3 D space scenario,the average running time of the A∗algorithm is 0.056 s,and its path length is all 30.2.Compared with the other algorithms,the A∗algorithm has the shortest running time,the shortest obstacle avoidance path,and the highest stability.It shows that the obstacle avoidance path and implementation route planning method proposed by the institute have significant performance advantages,which provide reliable technical support for the development of modern uav field.

关 键 词：A*算法 无人机 Dubins路径 智能避障 实时航路规划 

分 类 号：TP29[自动化与计算机技术—检测技术与自动化装置]