基于稀疏A_搜索和改进人工势场的无人机动态航迹规划.pdfVIP

27 7 Vol. 27 No. 7 2010 7 Control Theory Applications Jul. 2010 :2010 A* , , , (1. , 710072; 2. , 710072; 3. , 156–756) : , A* . ; , A* ; , . , . : A*; ; ; : V249 : A Dynamic trajectory planning for unmanned aerial vehicle based on sparse A* search and improved artificial potential field YAO Yuan , ZHOU Xing-she , ZHANG Kai-long , DONG Dong (1. School of Computer, Northwestern Polytechnical University, Xi’an Shaanxi 710072, China; 2. Shaanxi Provincial Key Laboratory of Embedded System Technology, Xi’an Shaannxi 710072, China; 3. Ubiquitous Computing Lab, Computer engineering of Chung-Ang UNIV, Seoul S.Korea 156–756, Korea) Abstract: Based on the sparse A* search algorithm for path planning and the improved artificial potential field, we propose a method of dynamic trajectory planning for unmanned aerial vehicle(UAV) in the threat model composed of obstacles with different attributes. This method first builds a grid model of the threat distribution; and then, it makes the global path planning by sparse A* search algorithm according to the static obstacles; Finally, combining the pre-determined route and the dynamic obstacles, UAV can accomplish the dynamic trajectory planning by using the improved artificial potential field. Simulation results indicate that the proposed method can find a global optimal path with the given risk index and achieve a good performance of dynamic obstacle avoidance. Key words: sparse A* search; trajectory planning; artificial potential field; dynamic obstacle avoidance 1 (Introduction) ,