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通过改进优化传统A*算法,利用动态稀疏A*搜索(DSAS)算法在线设计了直升机贴地飞行轨迹。该算法采用逆向搜索方式规划航迹,在遇到新生探测威胁时,只需局部调整受到影响的航迹,减少了重新规划的范围,提高了搜索效率。此外,在生成节点时考虑了直升机性能及飞行约束,优化了搜索范围;并且根据影响贴地飞行航迹性能的各种因素,设计了航迹代价计算方法;利用层次分析法结合专家分析计算得到最优代价权值。仿真结果表明,该方法在线设计的飞行轨迹能够较全面地满足避障、贴地功能,相比稀疏A*搜索(SAS)算法节省了计算时间。
By improving and optimizing the traditional A * algorithm, the flight path of the helicopter is designed online using the dynamic sparse A * search (DSAS) algorithm. The algorithm uses the reverse search method to plan the trajectory. When encountering the threat of newborn detection, it only needs to adjust the affected track partially, which reduces the re-planning scope and improves the search efficiency. In addition, the helicopter performance and flight constraints are considered in the generation of nodes, and the search range is optimized. Based on various factors that affect the performance of the affixed flight path, a trajectory cost calculation method is designed. By using AHP and expert analysis and calculation Optimal price. The simulation results show that the flight path designed online by this method can fully meet the obstacle avoidance and affixing functions and save the computational time compared with the sparse A * search (SAS) algorithm.