| 基于启发式A*算法的飞行器三维航路规划 |
| |
| 引用本文： | 王志科,朱凡,彭建亮. 基于启发式A*算法的飞行器三维航路规划[J]. 电光与控制, 2009, 16(6) |
| |
| 作者姓名： | 王志科 朱凡 彭建亮 |
| |
| 作者单位： | 空军工程大学工程学院,西安,710038;空军工程大学工程学院,西安,710038;空军工程大学工程学院,西安,710038 |
| |
| 摘 要： | 提出了一种基于启发式A*算法的三维航路规划方法并进行了仿真验证.首先对地形的高程栅格数据进行综合平滑处理,建立满足飞行器机动性能的安全飞行曲面,结合威胁数据的量化模型,采用改进的A*算法在安全飞行曲面上规划出三维飞行航路,并对搜索出的航路进行了优化和平滑处理.仿真结果显示,算法简单快速,能满足飞行器执行不同任务的需要,易于工程实现.
|
| 关 键 词： | 启发式A*算法 航路规划 威胁模型 数字地图 低空突防 航路平滑 |
On 3-D Path Planning for Air Vehicle Based on Heuristic A~* Algorithm |
| |
| WANG Zhike,ZHU Fan,PENG Jianliang. On 3-D Path Planning for Air Vehicle Based on Heuristic A~* Algorithm[J]. Electronics Optics & Control, 2009, 16(6) |
| |
| Authors: | WANG Zhike ZHU Fan PENG Jianliang |
| |
| Affiliation: | Institute of Engineering;Air Force Engineering University;Xi'an 710038;China |
| |
| Abstract: | A 3-D path planning method for air vehicle based on heuristic A*algorithm was proposed and simulated.At first,the altitude raster data was processed by integrated terrain elevation smoothing algorithm,and a safe flight surface was built up which satisfied the maneuverability of the air vehicle.Considering also the mathematical model of threat factors,an improved A* algorithm was used to plan 3D vehicle paths on the safe flight surface.Then the planned paths were optimized and smoothed.Simulation result indi... |
| |
| Keywords: | heuristic A* algorithm path planning threat model digital map low altitude penetration path smoothing |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
|
