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无人机三维航迹规划由于规划约束众多,同时面临在巨大的搜索空间中寻优,往往规划速度慢,规划效率低.结合二维规划和高度规划实现三维规划是一种有效提升规划速度的解决方案,在利用Fast M arching Method(FMM)进行二维规划的基础上,采用Sparse A-star(SAS)搜索算法进行高度规划,分阶段考虑航迹规划的各种环境约束和机动约束,从而压缩规划空间.实验表明,该方法航迹规划速度快,所得到的三维航迹具有良好的地形跟随能力和避障能力.
Due to the large number of planning constraints and the search in the vast search space, the UAV 3D trajectory planning often tends to be slow and inefficient in planning. Combining the two-dimensional programming and the high-level planning to achieve the three-dimensional programming is an effective way to enhance the planning speed Based on the two-dimensional planning using Fast M arching Method (FMM), the Sparse A-star (SAS) search algorithm is used to plan the environment and various environmental constraints and maneuver constraints of track planning in phases Compression planning space.Experiments show that the proposed method has the advantages of fast track planning and good terrain following ability and obstacle avoidance capability.