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    • 具有时间约束任务的无人机航迹规划方法

    WANG Xin-zeng,CI Lin-lin,LI Jun-shan, YU Ning

    Fire Control & Command Control（2011）

    1.Second Artillery Engineering College

    Cited 4|Views8
    Abstract
    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。
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    Key words
    variable step,A* algorithm,UAV,threat probability,route planning
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    【要点】：本文提出了一种基于时间限制的无人机路径规划方法，通过改进A*算法并引入与时间相关的成本评估函数，以满足任务时间限制要求。
    

    【方法】：研究构建了战场威胁模型，描述了威胁程度与威胁概率的关系，并结合无人机性能参数，采用添加适当威胁成本以满足任务时间限制的方法，改进了A*算法，设计了与时间相关的成本评估函数，并采用了可变步长策略。
    

    【实验】：通过模拟实验验证了该方法的有效性，能够快速规划出满足任务时间限制的路径。实验使用的数据集未在文中明确提及。