基于A*算法的高超声速飞行器航迹规划方法

为了提高A*算法应用于高超声速飞行器航迹规划时的效率和稳定性,并保证航迹可飞性,提出基于改进型变步长稀疏A*算法的航迹规划方法。首先根据飞行器飞行区域不存在地形限制的特点,在规划过程中采取变步长策略,有效地提高了远程规划时的稳定性和效率;然后依赖飞行器的过载计算最大转弯角和爬升/俯冲角,根据计算角度构建规划空间,同时将飞行器飞行过程燃料/时间、航向、飞行高度、航迹末端、禁飞区域等约束用于规划空间优化,减少扩展节点的数量,进一步提高了规划效率并保证航迹的可飞性;最后基于威胁约束设计特殊的代价函数,保障了飞行安全和航迹规划的稳定性。仿真结果表明:规划出的航迹满足高超声速飞行器各种飞行要求,能避开各种威胁,规划时间短,稳定性好。得到的航迹能够作为航迹跟踪控制系统设计时的参考输入。

Route Planning for Hypersonic Vehicle Using A * Algorithm

In order to improve the efficiency and stability of the route planning of hypersonic vehicle by using A* algorithm,this paper proposes an approach based on improved Spares A* algorithm with variable steps. Firstly,according to the characteristic that there are no topographical constraints in most flight zone of vehicle,this approach adopts the strategy of variable steps,to enhance the long-distance planning stability and efficiency. Secondly,this approach calculates the biggest turn-off angle,the biggest cl...