基于改进A~*算法的航迹规划设计研究
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摘要
针对传统A~*算法得出最优航迹为"折线航迹",增大了转弯处的航程和飞行时间,难以满足实际飞机飞行安全性需求,提出了一种基于"追踪"思想的改进A~*算法。该算法利用追踪模型的微分方程对航迹进行求解,得出较初始"折线航迹"距离更短的"曲线航迹",精确规划出最优路线,且能快速解决障碍规避问题。最后,以北京到成都、西安到上海等7条航线的航班为仿真算例,充分验证了所提算法的有效性。
According to the curve route concluded by traditional A~* algorithm,which improves the voyage in turning point and increases the flight time,so it's hard to meet the need of aircraft flight safety,and this paper comes up with an improved A~* algorithm based on the thought of tracking. It introduces the differential equation of tracking model to route calculation and acquire the shorter curve route compared with the initial broken route,it also plan out the optimal track precisely while solves the problem of obstacle avoidance rapidly. Finally take the route from Chengdu to Beijing,Xi'an to Shanghai and other five routes as simulation instances to verify the effectiveness of this algorithm.
According to the curve route concluded by traditional A~* algorithm,which improves the voyage in turning point and increases the flight time,so it's hard to meet the need of aircraft flight safety,and this paper comes up with an improved A~* algorithm based on the thought of tracking. It introduces the differential equation of tracking model to route calculation and acquire the shorter curve route compared with the initial broken route,it also plan out the optimal track precisely while solves the problem of obstacle avoidance rapidly. Finally take the route from Chengdu to Beijing,Xi'an to Shanghai and other five routes as simulation instances to verify the effectiveness of this algorithm.
引文
[1]杜文博.面向航空交通系统的复杂网络与网络动力学研究[D].合肥:中国科学技术大学,2010.
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[5]林娜,李啸天.基于双向A*算法的城市无人机航路规划[J].沈阳航空航天大学学报,2016,33(4):55-60.
[6]WANG H,LI Q,CHENG N.Real-time path planning for low altitude flight based on A*algorithm and TF/TA algorithm[C]//IEEE International Conference on Automation Science&Engineering,2012:837-842.
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[12]苏兰明.基于案例推理的路径规划研究[D].济南:山东大学,2012.
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[14]寇英信,付昭旺,冯国强.网络瞄准下空空导弹允许发射区模拟仿真分析[J].空军工程大学学报,2012,13(2):24-28.
[15]徐涛,杨任农,贾开吉.基于双指标并行A*算法的自动航线规划仿真[J].计算机仿真,2013,30(9):105-108.
[2]孟祥恒,王社伟,陶军.基于改进蚁群算法的多无人机航路规划研究[J].计算机仿真,2008,25(11):56-59.
[3]李世晓,朱凡,张健.改进A*算法的多约束航迹规划[J].电光与控制,2014,21(7):36-40.
[4]席庆彪,苏鹏,刘慧霞.基于A*算法的无人机航路规划算法[J].火力与指挥控制,2013,38(11):5-9.
[5]林娜,李啸天.基于双向A*算法的城市无人机航路规划[J].沈阳航空航天大学学报,2016,33(4):55-60.
[6]WANG H,LI Q,CHENG N.Real-time path planning for low altitude flight based on A*algorithm and TF/TA algorithm[C]//IEEE International Conference on Automation Science&Engineering,2012:837-842.
[7]张帅,李学仁,张鹏.基于改进A*算法的无人机航迹规划[J].飞行力学,2016,34(3):39-43.
[8]席庆彪,杨述星,张帅,等.基于A*算法的无人机地面目标跟踪[J].火力与指挥控制,2017,42(3):25-28.
[9]张帅,李学仁,张鹏.侦查无人机航迹规划设计研究[J].计算机仿真,2016,33(4):111-115.
[10]邱震宇,杨红雨,刘强.三维大地形下的飞行航迹优化仿真[J].计算机仿真,2008,25(3):59-62.
[11]潘长安.基于改进A*算法的城市交通寻径的研究[D].上海:华侨大学,2015.
[12]苏兰明.基于案例推理的路径规划研究[D].济南:山东大学,2012.
[13]戴天虹,王克奇,杨少春.基于支持向量机的入侵检测研究[J].中国安全科学学报,2008,16(5):857-868.
[14]寇英信,付昭旺,冯国强.网络瞄准下空空导弹允许发射区模拟仿真分析[J].空军工程大学学报,2012,13(2):24-28.
[15]徐涛,杨任农,贾开吉.基于双指标并行A*算法的自动航线规划仿真[J].计算机仿真,2013,30(9):105-108.
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