引用本文: 陈志旺,夏顺,李建雄,等.基于定向A*算法的多无人机同时集结分步策略[J].控制与决策,2019,34(6):1169-1177
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 本文已被：浏览 183次   下载 178次 码上扫一扫！ 分享到： 微信 更多 字体:加大+|默认|缩小- 基于定向A*算法的多无人机同时集结分步策略 陈志旺1,2, 夏顺1, 李建雄1,2, 宋娟3, 彭勇4 (1. 燕山大学工业计算机控制工程河北省重点实验室，河北秦皇岛066004;2. 燕山大学国家冷轧板带装备及工艺工程技术研究中心，河北秦皇岛066004;3. 国网黑龙江省电力有限公司佳木斯供电公司，黑龙江佳木斯154002;4. 燕山大学电气工程学院，河北秦皇岛066004)

DOI：10.13195/j.kzyjc.2017.1636

Serial strategy for rendezvous of multiple UAVS based on directional A* algorithm
CHEN Zhi-wang1,2,XIA Shun1,LI Jian-xiong1,2,SONG Juan3,PENG Yong4
(1. Key Lab of Industrial Computer Control Engineering of Hebei Province,Yanshan University,Qinhuangdao066004,China;2. National Engineering Research Center for Equipment and Technology of Cold Strip Rolling,Yanshan University,Qinhuangdao066004,China;3. Jiamusi Electric Power Company,State Grid Heilongjiang Electric Power Co., Ltd,Jiamusi154002,China;4. School of Electrical Engineering,Yanshan University,Qinhuangdao066004,China)
Abstract:
In this paper, a serial strategy based on the directional A* algorithm for multiple UAVs is proposed. Firstly, the directional A*algorithm is presented to create a smooth and feasible pre-planning route, in which the maximum pitch and yaw angles are used as search constraints of the A* algorithm to narrow expansion area of nodes, and the successive trial and error procedure is adopted to avoid "dead zones". Then, the serial re-planning algorithm is discussed to extend the path length for aggregating at the same time, which generally consists of three steps: variable step size and multiple nodes, three-dimensional circle maneuver and virtual threats. Finally, the effectiveness of the proposed algorithm is demonstrated using numerical simulation.
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