【摘要】 针对无人机航路规划空间建模和规划算法的设计问题,研究了地理地形、敌方雷达和禁避飞区等约束条件的建模问题;针对规划空间较大时,A*算法规划时间长信息存储量大这一问题,将规划分为两步,应用A*算法进行离线规划生成预规划航路,以预规划航路作为参考选择局部目标点进行在线规划;为了使得规划航路满足无人机的机动性能约束,利用3次B样条曲线对航路进行平滑处理。仿真结果表明,该算法性能优于稀疏A*算法,适用于无人航路规划的工程应用。更多还原

【Abstract】 The model of the terrains,enemy radars and no-fly zones for UAV path planning are researched firstly. To reduce the high computational requirements of the original A*algorithm,a new A*algorithm is presented,which designs the offline paths by a given cost,then chooses some local points on the offline paths for online planning. In order to satisfy the maneuverability of the air vehicle the paths are smoothed by Cubic B-Spline curves. Simulation results show that the computational requirements are lower than the Sparse A*algorithm and it can meet engineering demand.更多还原