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为消除起飞时间误差以及飞行过程中各种干扰对无人飞行器到达指定地点时间的影响,提出了一种基于航迹片段树的快速四维航迹规划方法.结合现代无人飞行器特点,利用改进的稀疏A*算法,生成遍布规划空间的航迹片段树,根据指定目标位置直接从航迹片段树中寻求最优叶节点,通过回溯及速度优化设置,快速获得能消除各种时间误差的飞行航迹.试验结果表明,本算法能快速完成四维航迹规划,满足飞行器按指定时间达到指定地点的要求.
In order to eliminate the influence of take-off time error and various disturbances on the arrival time of UAV at the designated place during the flight, a fast four-dimensional trajectory planning method based on the track segment tree was proposed. Combining with the characteristics of modern UAV, Sparse A * algorithm is used to generate the track fragment tree which spreads all over the planning space. According to the specified target position, the optimal leaf node is searched directly from the tree of track fragments. Through the backtracking and speed optimization, The experimental results show that this algorithm can quickly complete the four-dimensional trajectory planning to meet the requirements of the aircraft to reach the designated location by the specified time.