基于改进A*算法的无人机动态航迹规划

在无人机航路规划问题的研究中，针对传统 A*算法在航路规划中的不足，提出了一种增加约束条件的广义搜索 A*算法，并将该算法应用到动态航路规划中。该算法在节点搜索中解决了 A*算法大空间搜索的复杂程度，而且用重新估价代价值来满足无人机的实时性，最后用平滑处理算法使规划的航路满足无人机的机动性能约束。仿真结果表明，该算法性能优于传统 A*算法，具有很好的实时性，适用于无人机航路规划的工程应用。

UAV Dynamic Route Planning Based on Improved A-Star Algorithm

In UAV route planning problem, in view of the lack of A-star traditional algorithm in the route planning, this paper proposes a general search algorithm which increase the constraint conditions of A-star, and applies the algorithm to the dynamic route planning. The algorithm solved a big space in the node search to the complex degree, and with a revaluation value to meet the real-time, the UAV with smoothing algorithm make the planning route finally meet UAV maneuver performance constraint. The simulation results show that the algorithm has better performance than the traditional A-star algorithm, and it is suitable for the engineering application of UAV route planning.