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针对SAS算法在三维航迹规划问题应用中的不足,提出了一种基于分层策略的三维航迹规划方法。该方法分为两个层次:粗粒度的SAS快速航迹规划和细粒度的遗传算法优化。SAS算法以较大步长快速找到搜索图中的最优解,建立航迹通道。在航迹通道内利用改进的遗传算法对航迹进行优化。设计了一种定向变异算子用于航迹的平滑。仿真实验表明,该方法规划的三维航迹能满足地形跟随和规避威胁的要求,同时具有良好的平滑特性。
Aiming at the shortage of SAS algorithm in the application of three-dimensional trajectory planning problem, a three-dimensional trajectory planning method based on hierarchical strategy is proposed. The method is divided into two levels: coarse-grained SAS fast track planning and fine-grained genetic algorithm optimization. SAS algorithm to quickly find a larger step size search map the optimal solution, the establishment of track channel. In the track channel using improved genetic algorithm to optimize the track. A directional mutation operator is designed to smooth the track. Simulation results show that the proposed three-dimensional trajectory can meet the requirements of terrain following and avoiding threats, and has good smoothness.