基于局部规划的三维航迹规划方法

摘要

To solve the problem of the huge search space and the long computed time of 3D-Route planning, a new method of 3D-route planning based on A * algorithm and part programming is proposed in this paper, which efficiently prunes the search space and shortens the search time by ascertaining some nodes that are hopeful to be expanded in part pmgramming space of current node and integrating with A * algorithm.Lastly the shortage of part programming is ameliorated by gridding the terrain and appending the depth punish of tree.During the search process,terrain information is fully used, therefore the mute generated by the method can avoid bulky terrain obstacle and make use of advantaged terrain.The experiment carried in practice terrain demonstrates that this method can plan a desirable route quickly and efficiently.%研究飞行器航迹是选择最优航线问题,针对三维航迹规划中搜索空间大、计算时间长的问题,为缩短搜索时间,获得最优航迹,提出了一种基于A<'*>算法并结合局部规划的三维航迹规划方法.方法首先对A<'*>算法中的当前待扩展节点在局部规划空间中确定几个最有希望的扩展节点,再将其与A<'*>算法相结合,最后对局部规划算法过程中的不足,通过地形标记和加入树搜索深度惩罚做出改进,有效地减小了搜索空间,缩短了搜索时间,并在搜索过程中充分利用地形信息,使算法生成的航迹能够避开大的地形障碍,而且能够充分利用有利的地形.在实际地形数据中进行的实验表明方法能快速、有效地规划出理想优化的航迹.