改进型Voronoi图和动态权值A*算法的无人机航迹规划

摘要

针对实际作战环境中的不同威胁等级和不同威胁实体的威胁源，提出了改进型的Voronoi图，并建立了基于改进型Voronoi图的航迹规划空间；基于A*算法的估价函数在不同阶段对指标的敏感度不同，在传统的启发式A*搜索算法基础上提出了动态权值A*搜索算法，提高了航迹搜索的效率，实现了航迹搜索过程快速性和准确性的结合。最后通过Matlab仿真计算出由动态权值A*算法得到的最优航迹，并进行了航迹的平滑处理，仿真表明了该方法的可行性。%Aiming at different threat level and different kinds of threat in actual operational environment,the path planning space on the basis of improved Voronoi diagram is established. Because evaluation function of A* algorithm requires different sensitiveness to indicator at different stage,based on traditional heuristic A*algorithm,dynamic weights A* algorithm is proposed to improve efficiency of path searching and combine the rapidity and the veracity of path planning. By Matlab software,the optimal path is acquired and the path is smoothed. The simulation shows the feasibility of improved Voronoi diagram and dynamic weights A*algorithm.