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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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)
摘要:
设计一种基于定向A*算法的多无人机同时集结分步策略.首先,提出一种定向A*算法,将无人机最大俯仰角与偏航角作为A*算法搜索约束,从而缩小节点扩展区域,并通过循环寻优规避“死区”点,进而产生平滑可飞的预规划航迹;其次,论述了补偿航程差的变步长多点搜索、三维盘旋机动、虚拟威胁等分步再规划算法,使得多无人机同时集结于目标点附近.仿真结果表明,所提出的算法能够有效完成多无人机同时集结任务.
关键词:  多无人机  航迹规划  A*算法  同时集结
DOI:10.13195/j.kzyjc.2017.1636
分类号:V249
基金项目:国家自然科学基金项目(61573305).
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.
Key words:  multiple UAVs  path planning  A* algorithm  simutaneous arrival

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