【摘要】 通过对A*算法在路径规划中的应用进行研究,提出了一种新的三维航路动态规划方法,通过对搜索策略引入启发式权重系数,利用加权值自适应方法对算法的评价函数进行设计,改善了传统A*算法在大空间中搜索速度低的缺点,提高航迹点搜索效率,同时将无人机的约束条件有效分割到解空间,便于应用于工程实践。基于优化算法规划的最优航路,设计了导引控制律,使无人机很好地跟随规划的路径,同时生成的期望控制指令充分考虑了无人机本身的机动性能以及实时性要求,解决了航迹规划与航迹跟踪之间的问题,最后进行了仿真验证,结果表明:该方法是可行和有效的,有着较高的优化效率;易于实现,工程实用性强。更多还原

【Abstract】 Based on the theory of A* algorithm in the Path Planning Problem,a novel algorithm for search strategy optimization of UAV three-dimensional dynamic route planning is presented. Introducing heuristic weight coefficient to improve the search strategy,using method of adaptive algorithm weighted value of evaluation function to design has greatly increased the track point search efficiency. To facilitate the application in practice,effective solution space contains constraints of UAV,the guidance control law is designed in the paper. It can make the UAV follow the optimal path planning based on the optimization algorithm. At the same time generate the expectations of the control instruction give full consideration to the UAV itself of motor performance and real-time requirements,solve the problem between the path planning and path tracking. The simulation result shows that the method proposed in this paper is feasible and effective and the result obtained is easy to the application of engineering.更多还原