| 航迹规划的一种路线图方法 |
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| 引用本文： | 严平,丁明跃,周成平.航迹规划的一种路线图方法[J].计算机工程与应用,2004,40(17):218-221. |
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| 作者姓名： | 严平 丁明跃 周成平 |
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| 作者单位： | 1. 华中科技大学图像识别与人工智能研究所,图像处理与智能控制教育部重点实验室,武汉,430074;海军工程大学兵器工程系,武汉,430033
2. 华中科技大学图像识别与人工智能研究所,图像处理与智能控制教育部重点实验室,武汉,430074 |
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| 基金项目： | 中国航天科工集团基金项目，海军工程大学科学研究基金项目(编号:E330)资助 |
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| 摘 要： | 该文提出一种飞行路线图上的实时三维航迹规划方法,将航迹规划过程分成两个阶段:学习阶段和查询阶段。在学习阶段,环境信息结合在路线图中,在查询阶段,采用SAS算法搜索飞行路线图,实时获得三维可行航迹。构图和航迹搜索过程中分阶段满足飞行器约束条件。通过更新路线图中边的代价,实现了动态环境中飞行器的实时规划。
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| 关 键 词： | 飞行器 航迹规划 实时处理 随机路线图 |
| 文章编号： | 1002-8331-(2004)17-0218-04 |
A Real-time Route Planner Based on Roadmap |
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| Yan Ping , Ding Mingyue Zhou Chengping.A Real-time Route Planner Based on Roadmap[J].Computer Engineering and Applications,2004,40(17):218-221. |
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| Authors: | Yan Ping Ding Mingyue Zhou Chengping |
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| Affiliation: | Yan Ping 1,2 Ding Mingyue 1 Zhou Chengping 11 |
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| Abstract: | In this paper,a novel route planner based on roadmap is proposed,which splits the route planning process into two phases:the learning phase and the query phase.In learning phase,environmental information is integrated into the constructed roadmap and this roadmap can be used to find routes between different pairs of nodes in next step.In query phase,the SAS algorithm is used to search for routes for air vehicle in the roadmap.Constraints of air vehicles are met in these two phases.After updating the cost of each edge in the roadmap,this planner can give a feasible route for air vehicle in dynamic environment in real time. |
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| Keywords: | air vehicle route planning real-time processing probabilistic roadmap |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
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