多约束条件下的飞行器航迹规划算法

针对以栅格形式表示的多约束飞行器航迹规划问题,提出了一种改进的A*搜索算法满足规划过程中的各种约束条件.通过对链表和结构体数组等数据结构形式的运用、对节点扩展等细节的改进,大大简化了算法的实现;通过采取合并单元格、添加虚拟威胁以及剪枝等措施满足了飞行航迹中的多种约束条件;通过滤除路径节点的举措对规划的航迹进行了优化.最后经数字仿真证实了该算法的有效性.

Realization of 2D grid-based route planning algorithm

For grid-based route planning with multiple constraint conditions,an improved A* heuristics search algorithm was presented for satisfying each of the constraint conditions in the course of planning.By using data structures such as chain list and structure arrays,and through the improvement of node expanding method,the program realization of the algorithms was predigested.Methods such as adding virtual threats,uniting the cell grids and pruning were used to satisfy various constraints in route planning.The route was optimized and smoothed by removing some nodes in the route.Simulation results show the efficiency of the algorithms.