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Flight path planning method based on sparse A* algorithm and genetic algorithm

A technology of track planning and genetic algorithm, applied in three-dimensional position/channel control and other directions, which can solve the problem of UAV track planning falling into local search and other problems

Inactive Publication Date: 2013-01-16
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

[0010] The purpose of the present invention is to solve the problem that UAV track planning is prone to fall into local search, and propose a track planning method based on sparse A* algorithm (SAS) and genetic algorithm

Method used

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  • Flight path planning method based on sparse A* algorithm and genetic algorithm
  • Flight path planning method based on sparse A* algorithm and genetic algorithm
  • Flight path planning method based on sparse A* algorithm and genetic algorithm

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Embodiment

[0156] Firstly, the flight environment model is established and relevant parameters are selected. Using SAS algorithm for off-line track planning. This example uses the following parameter values:

[0157] ●The coefficient W in the cost function 1 =W 2 =W 3 =1 / 3,

[0158] ●The minimum track segment length is 4km; the minimum flight altitude is 35m; the maximum turning angle and maximum climb / glide angle are 30° and 35° respectively;

[0159] ●The minimum track segment length is 2km;

[0160] ●The maximum path distance is 1.5 times the straight-line distance between the starting point and the target point;

[0161] The probability of crossover operator is selected as 0.25, the probability of disturbance operator, insertion operator, deletion operator and exchange operator is selected as 0.1, and the probability of smoothing operator and directional disturbance operator is selected as 1;

[0162] ●The population size is 60, and 30 tracks are selected for each iteration,...

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Abstract

The invention relates to a flight path planning method based on a sparse A* algorithm and a genetic algorithm and belongs to the technical field of flight path planning of an unmanned aerial vehicle (UAV). According to the characteristics of flight path planning, the method comprises the following steps: planning an initial reference flight path by the utilization of the sparse A*search (SAS) algorithm, wherein constraint conditions are combined into algorithm search, so that useless nodes in a search space can be effectively deleted and the search time is shortened; and when emergent threat occurs during real-time flight of the UAV, performing real-time flight path planning by the utilization of the genetic algorithm and generating a flight path with local optimum or approximate optimum until the threat disappears and the UAV returns the original global optimum reference flight path and continues flying. The method provided by the invention has high real-time performance and rapidity; the searched flight path is closer to the actual UAV optimal flight path; and the method can be applied to the technical fields of robot path planning, urban vehicle path planning and the like under complex environments.

Description

technical field [0001] The invention relates to a track planning method based on a sparse A* algorithm and a genetic algorithm, and belongs to the technical field of unmanned aerial vehicle track planning. Background technique [0002] Unmanned Aerial Vehicle (UAV) has the functions of automatic take-off and landing (launch), automatic driving, automatic navigation, automatic fast and accurate positioning, automatic information collection and transmission, etc., and is especially suitable for replacing people in dangerous, harsh and extreme environments. Complete specific work and tasks, so it has a wide range of applications in military, surveying and mapping, aerospace, commercial and other fields. As one of the cores of the Mission Planning System (Mission Planning System), trajectory planning is a high-tech developed with modern information technology. To be precise, UAV trajectory planning is to plan an optimal or most satisfactory flight trajectory for UAVs under the ...

Claims

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Application Information

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IPC IPC(8): G05D1/10
Inventor 耿庆波刘建英刘世岳
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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