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根据战场环境中威胁的种类及特性,建立了威胁模型,描述了威胁范围与威胁概率的关系;在对具有时间敏感性任务的无人机进行航迹规划时,根据无人机任务的时间限制,结合无人机的性能参数,采用适当增加风险代价,来满足任务时间要求的方法,改进了A*搜索算法,将A*算法的代价估价函数设置为与时间相关的函数,采用变步长搜索策略,通过判断是否满足任务时间要求,确定出将要优先扩展的节点,仿真结果表明该算法能够快速规划出满足任务时间约束条件的航迹。
According to the types and characteristics of threats in the battlefield environment, a threat model is established, which describes the relationship between the threat range and the threat probability. When planning the trajectory planning of the UAV with time-sensitive tasks, , Combined with the performance parameters of UAV, using the method of increasing the risk cost to meet the task time requirements, the A * search algorithm is improved, the cost estimation function of A * algorithm is set as time-dependent function, variable step size The search strategy determines the nodes to be prioritized by determining whether the task time is satisfied or not. The simulation results show that the algorithm can quickly plan the trajectory satisfying the task time constraints.