无人机三维航迹规划方法研究

摘要

Path planning is essential for both UAVs and mission planning system.This paper proposes a three-dimension path Planning algorithm based on a hybrid of an improved voronoi diagram algorithm and a dynamic A~* algorithm for a fixed-point.The proposed algorithm plans a two-dimension path by the improved voronoi diagram method,and then presents a three-dimen-sion path coinciding with the flight constraints of UAVs by referring to the former two-dimension path.Experiments highlight the efficiency of the path planning method.%航迹规划算法是无人机关键技术之一,同时也是任务规划系统(Mission Planning System)心之一.针对固定目标规划问题,提出一种voronoi图改进算法和动态稀疏A~*算法融合的三维航迹规划方法.该方法针对固定威胁目标,通过改进voronoi图规划算法快速求解二维航迹路径,然后在该路径参考下,用动态稀疏A~*算法求解符合无人机飞行动力学约束的三维航迹.试验表明,该算法比动态稀疏A~*算法规划速度快,并保证了航迹最优性.