文档介绍：第卷第期湖北民族学院学报自然科学版
30 2 Vol. 30 No. 2
年月
2012 6 Journal of Hubei University for Nationalities Natural Science Edition Jun. 2012
一种快速 3 维无人机航迹规划方法
李时东,艾青,刘嵩
湖北民族学院信息工程学院,湖北恩施 445000
摘要无人机三维航迹规划由于规划约束众多,同时面临在巨大的搜索空间中寻优,往往规划速度慢,规划效率低.
结合二维规划和高度规划实现三维规划是一种有效提升规划速度的解决方案,在利用 Fast M arching Method
FMM 进行二维规划的基础上,采用 Sparse A - star SAS 搜索算法进行高度规划,分阶段考虑航迹规划的各种环
境约束和机动约束,从而压缩规划空间. 实验表明,该方法航迹规划速度快,所得到的三维航迹具有良好的地形跟
随能力和避障能力.
关键词航迹规划 FMM SAS
中图分类号 V324 文献标志码 A 文章编号 1008 - 8423 2012 02 - 0203 - 04
A Fast 3D Path Planning Method for UAVs
, ,
LI Shi - dong AI Qing LIU Song
, , ,
School of Information Engineering Hubei University for Nationalities Enshi 445000 China
Abstract 3D path planning is always slow and in efficient for there are many constraints to be considered
, ,
while planning meanwhile the path is produced by searching in huge space. It is an efficient scheme to
improve path planning speed bining 2D path planning and height planning. We proposed a fast 3D
path planning method by planning 2D path with Fast Marching Method FMM and making height plan-
,
ning using Sparse A - Star SAS searching method where the environment and maneuverability con-
, ,
straints are processed by stages thereby the planning space is reduced. Experiments showed that the
,
proposed method generates path quickly and the obtained path follows ter