摘要
为了提高A*算法应用于高超声速飞行器航迹规划时的效率和稳定性,并保证航迹可飞性,提出基于改进型变步长稀疏A*算法的航迹规划方法。首先根据飞行器飞行区域不存在地形限制的特点,在规划过程中采取变步长策略,有效地提高了远程规划时的稳定性和效率;然后依赖飞行器的过载计算最大转弯角和爬升/俯冲角,根据计算角度构建规划空间,同时将飞行器飞行过程燃料/时间、航向、飞行高度、航迹末端、禁飞区域等约束用于规划空间优化,减少扩展节点的数量,进一步提高了规划效率并保证航迹的可飞性;最后基于威胁约束设计特殊的代价函数,保障了飞行安全和航迹规划的稳定性。仿真结果表明:规划出的航迹满足高超声速飞行器各种飞行要求,能避开各种威胁,规划时间短,稳定性好。得到的航迹能够作为航迹跟踪控制系统设计时的参考输入。
In order to improve the efficiency and stability of the route planning of hypersonic vehicle by using A ＊ algorithm, this paper proposes an approach based on improved Spares A ＊ algorithm with variable steps. Firstly, according to the characteristic that there are no topographical constraints in most flight zone of vehicle, this approach adopts the strategy of variable steps, to enhance the long - distance planning stability and efficiency. Secondly, this approach calculates the biggest turn - off angle, the biggest climb/dive angle based on the overload of vehicle, then effectually creates the planning space by using the calculated angle and reduces the total number of expanded nodes by using the constraint for fuel/flying time, the direction constraint, the flying height constraint, the end of flight path constraint, the forbidden zone for vehicle, to obtain the feasible route quickly. Finally, this approach employs the special cost functions according to the threat constraint for vehicle, to guarantee the safety of vehicle and the stability of planning. The results of the simulation verify that this method has the advantages of high speed and strong stability. The planned route can satisfy all the flight demands of the hypersonic vehicle and can dodge all kinds of threats, The planned route can also be used as the reference input for the route tracking control system.
出处
《计算机仿真》
CSCD
北大核心
2009年第9期62-65,127,共5页
Computer Simulation
基金
航天支撑基金(2008-ht-xgd)
关键词
高超声速飞行器
航迹规划
变步长
约束
效率
稳定性
Hypersonic vehicle
Route planning
Variable steps
Constraints
Efficiency
Stability
