基于A*算法的无人机跟踪目标的航迹规划

Trajectory Planning for Unmanned Aerial Vehicle Tracking Targets Based on A* Algorithm

摘要:

针对无人机跟踪目标的航迹规划问题,文章提出了一种双评估函数的改进A*算法;首先,根据无人机在跟踪目标时的飞行特点提出了航迹规划策略,并结合无人机的油耗、航迹长短和机动性能等约束条件来设计中间目标点的评估函数和航迹片段的评估函数;之后,采用加权法对A*算法进行改进,以使航迹的优化与时间耗费之间找到平衡点;同时,改进在Open表中插入与删除节点的方式,提高计算效率;最后,通过对跟踪航迹的仿真,表明该算法可以快速、有效地为无人机在跟踪目标时规划出优化的航迹。

Abstract:

An improved A* algorithm with double cost functions is proposed to plan the trajectory for Unmanned Aerial Vehicle tracking surface targets. The strategy of trajectory planning for UAV tracking targets is designed at first, based on which the cost functions of mid-object points and trajectory segments are proposed with fuel consumption, length of trajectory, and maneuverability. Then the A* algorithm is adopted with adding-weight to the evaluations, by which the balance is achieved between trajectory optimization and computing time. Meanwhile the computing efficient is improved by change the method of deleting and adding knot in the open list. At last, the simulation results of tracking trajectory show that the A* algorithm advanced in the article could plan optimal trajectories for unmanned aerial vehicles tracking target quickly and efficiently.