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为实现不同条件下的无人机自主航路规划,提出一种变步长稀疏A*算法。当遭遇紧迫环境时,缩小稀疏A*算法(SAS)的搜索步长,使无人机安全通过,提高了搜索精度和算法的鲁棒性,否则,保持较大的搜索步长扩展,保证搜索的高效性;并依据动态稀疏A*算法(DSAS)的思想,给出了应用于实时航路规划的多步搜索方案。仿真结果表明,算法简单有效地实现了复杂环境下的航路规划以及动态环境下的在线实时航路规划。
In order to realize the autonomous route planning of UAV under different conditions, a variable step size sparse A * algorithm is proposed. When faced with the urgent environment, narrow the search step of sparse A * algorithm (SAS), make the UAV pass safely, improve the search precision and the robustness of the algorithm, otherwise, keep the large search step extension, guarantee the search The efficiency of the proposed algorithm is also presented. According to the idea of dynamic sparse A * algorithm (DSAS), a multi-step search scheme for real-time route planning is given. The simulation results show that the algorithm can realize the route planning in complex environment and the online real-time route planning in dynamic environment easily and effectively.