无人机三维航迹规划与可视化仿真

摘要

结合无人机的机动能力限制条件,研究了基于稀疏A*算法的无人机三维航迹规划.该算法有效修剪了搜索空间中的无用节点,缩短了航迹搜索时间.在搜索过程中,充分利用了三维地形信息,使算法生成的航迹能够自动回避地形和雷达威胁.最后通过三维航迹的可视化仿真,对生成的航迹进行了验证.%This paper studies the UAV three-dimensional route planning which is based on the sparse A * search. This algorithm prunes the useless node of search space and shortens the search time by incorporating the UAV maneuvering ability constrains. The three-dimensional topographical information terrain information is fully used during the search process, therefore the route generated by the algorithm can avoid terrain and threat automatically. Finally, the route is verified by three-dimensional route visual simulation.