基于风场信息的无人机在线航迹规划方法

风场是影响无人机飞行速度的一个重要因素。为了缩短任务执行中的飞行时间,考虑战场环境存在外界威胁情况,提出了一种利用组合导航在线估计风场信息的无人机航迹规划方法。该方法基于飞行时间为代价,利用改进的A*搜索算法对航迹进行顺风搜索,从而实现最短理想耗时的航迹规划。计算机仿真结果表明,与传统的最短航迹长度规划方法相比,无人机按该方法规划的航迹飞行时,理想耗时最少。

An Effective Method of UAV Flight Path Planning On-Line in Wind Field Using Improved A* Searching Algorithm

To shorten the flight time of UAV,we propose an algorithm of UAV flight path planning on-line under battle field threats.Sections 1 through 3 of the full paper explain our method of flight path planning mentioned in the title,which we believe is better than the existing ones and whose core consists of: "UAV estimates the wind field information on-line using our proposed method during the flight.Then the choice of the extend nodes in A* search algorithm is considered according to the wind direction and the cost function is designed as the flight time".Section 3 is entitled "Method of UAV Flight Path Planning On-Line in Wind Field Using Improved A* Searching Algorithm";for convenience,we divide it into four sub-sections: 3.1,3.2,3.3 and 3.4.Simulation results,presented in Figs.4 and 5 and Table 2,and their analysis show preliminarily that the flight time is indeed less than that obtained with the traditional method based on the length of the flight path.