一种飞行器在线航路重规划方法

针对飞行器在线航路重规划的安全性和实时性要求,将稀疏A＊算法与模型预测控制中的滚动时域优化的思想相结合,提出了一种在线航路重规划方法.在飞行器探测到新的威胁时,把探测到威胁时的该段航路前面一定距离的节点作为新的起始点,并以没有进入威胁区的后续最近航路点作为目标点,使用稀疏A＊算法规划出一段长为N倍于最小步长R的航路,而后飞行器沿上述规划好的航路只飞行R距离.仿真结果表明：该方法通过每规划N步,执行一步,对受到威胁影响的参考航路进行局部修改,快速避开新出现的威胁,满足实时性要求.

A Method of Re-planning Aerocraft Online Route

In order to meet the requirements for real-time and safety of re-planning aerocraft online route,by combining the sparse A＊ algorithm with the idea of optimal rolling time domain in model predictive control,a method of re-planning online route was proposed.When the sensor equipped on aerocraft detects an unforeseen threat in this passage of route,let the point which is a certain distance away from the passage be a new starting point,and set the following nearest route point out of the threat region as the target point,the sparse A＊ search algorithm is used to layout a route whose length is N times of the least step R,and consequently,aerocraft would only fly a distance R along the programmed route.Simulation results show that the proposed algorithm could avoid newly emerging threat and meet the requirement for real-time by carrying out one step after planning N steps to modify locally the reference routes threatened.