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改进A*算法的多约束航迹规划

Multi - constrained Trajectory Planning with Improved A * Algorithm

摘要:

针对当前航迹规划的研究偏于理论、规划效率不高的问题,从工程应用出发,分析了航迹规划的多种约束条件,提出了一种多约束条件下的快速航迹规划方法,设计了基于航向角有限离散变化思想的工程化搜索策略;改进了A*算法流程,采用结构体链表式的最小二叉堆技术管理OPEN表和CLOSE表,显著提高算法的规划效率;提出了删除航路点的航迹优化方法,对传统A*算法和改进的算法分别进行了仿真。结果表明,在多约束条件下,该方法显著提高了规划效率。

Abstract:

In view of the fact that current research on track planning is biased towards theory and planning efficiency is not efficient, a variety of constraints of track planning are analyzed based on engineering application. A fast track planning method based on multiple constraints is proposed. An engineering search strategy based on the finite discrete change of heading angle is proposed. The A * algorithm flow is improved, and the OPEN table and the CLOSE table are managed by using the least-binary heap structure of chain structure, which greatly improves the planning efficiency of the algorithm. Point trajectory optimization method, the traditional A * algorithm and the improved algorithm were simulated. The results show that under the condition of multiple constraints, this method significantly improves planning efficiency.

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