4D route rapidly planning based on route-segment tree
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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.
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Key words:
- sparse A* algorithm /
- route-segment tree /
- four-dimensional route /
- route planning
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