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为解决多航迹规划中的避撞与协同问题,提出一种三维环境下的基于稀疏A*的多航迹协同规划方法。该方法设计了一种规划框架,分别在航迹搜索前与搜索过程中考虑多航迹的协同问题。在航迹搜索过程中,不但结合单条航迹原有的约束条件,同时还进行了航迹间的碰撞检测,并且通过航迹的协同违背量等因素来进行启发式搜索。该方法可以有效处理各类约束条件,简化启发因子,从而获得更好的规划性能。
To solve the problem of collision avoidance and coordination in multi-track planning, a multi-track coordinated planning method based on sparse A * is proposed in three-dimensional environment. This method designs a planning framework to consider synergetic problems of multiple tracks before and during the search process. In the process of track searching, not only the original constraints of a single track, but also the collision detection between tracks, the heuristic search is carried out through the factors such as the amount of coordination violation of track. This method can effectively deal with all kinds of constraints, simplify the heuristic, and get better planning performance.