4D route rapidly planning based on route-segment tree
-
摘要: 为消除起飞时间误差以及飞行过程中各种干扰对无人飞行器到达指定地点时间的影响,提出了一种基于航迹片段树的快速四维航迹规划方法.结合现代无人飞行器特点,利用改进的稀疏A*算法,生成遍布规划空间的航迹片段树,根据指定目标位置直接从航迹片段树中寻求最优叶节点,通过回溯及速度优化设置,快速获得能消除各种时间误差的飞行航迹.试验结果表明,本算法能快速完成四维航迹规划,满足飞行器按指定时间达到指定地点的要求.Abstract: The launch time error and the random difference during flying will influence the arriving time of the unmaned combat aerial vehicles(UCAV). Based on the sparse A* algorithm, a route-segment tree was built with considerations of the moving characteristics of modern UCAV. The best leaf point was found according to the target position, and the route which can eliminate the arriving time error of the target was laid out by route backtracking and velocity optimizing. The 4D (four-dimensional) rapidly route planning algorithm was realized in a case, and the simulation result shows that the UCAV can arrive the target at the designed time.
-
Key words:
- sparse A* algorithm /
- route-segment tree /
- four-dimensional route /
- route planning
-
[1] 赵明元,周军.基于A* 算法的四维实时航迹规划算法[J].火力与指挥控制,2008,33(8):98-111 Zhao Mingyuan,Zhou Jun.Algorithm of 4D real-time path planning based on A* algorithm [J].Fire Control and Command Control,2008,33(8):98-111(in Chinese) [2] 严江江,丁明跃,周成平.基于进化算法的多飞行器四维航迹规划方法[J].系统仿真学报,2009,21(4):1125-1129 Yan Jiangjiang,Ding Mingyue,Zhou Chengping.4D route planning for multi-UAV based on evolutionary algorithm [J].Joural of System Simulation,2009,21(4):1125-1129(in Chinese) [3] 傅阳光,周成平,王长青,等.考虑时间约束的无人飞行器航迹规划[J].宇航学报,2011,32(4):749-755 Fu Yangguang,Zhou Chengping,Wang Changing,et al.Path planning for UAV considering time constrait [J].Journal of Astronautics,2011,32(4):749-755(in Chinese) [4] Bhattacharya P,Gavrilova M L.Roadmap-based path planning using the Voronoi diagram for a clearance-based shortest path [J].IEEE Robotics & Automation Magazine,2008,15(2):58-66 [5] Baumann M A,Dupuis D C,Leonard S,et al.Occlusion-free path planning with a probabilistic roadmap [C]//2008 IEEE/RSJ International Conference on Intelligent Robots and Systems,IROS Nice.France:Inst.of Elec and Elec Eng Computer Society,2008:2151-2156 [6] 周其忠.复杂环境下多UCAV协同规划技术研究[D].武汉:武汉大学测绘学院,2010 Zhou Qizhong.Research on cooperative planning for multiple UCAVs in complicated environments [D].Wuhan:School of Geodesy and Geomatics,Wuhan University,2010(in Chinese) -
点击查看大图
计量
- 文章访问数: 1472
- HTML全文浏览量: 30
- PDF下载量: 771
- 被引次数: 0
下载:
