Aircraft optimal path determination method based on mixed probability A star and agent

An aircraft and intelligent body technology, applied in the field of spatial data processing, can solve the problems of reduced dependence, inability to calculate, and inability to adapt to motion, etc., to achieve the effect of shortening the path length, reducing the threat value, and overcoming the lack of robustness

CN102901500AInactive Publication Date: 2013-01-30XIDIAN UNIV
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Publication Date
2013-01-30
Estimated Expiration
Not applicable · inactive patent

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Abstract

The invention discloses an aircraft optimal path determination method based on mixed probability A star and agent. The method is mainly used to solve problems of too long path length and too large thread value of obstacles to the aircraft. The method comprises steps of: (1) generating a topographical map of the obstacles; (2) arranging a start point SP and a stop point EP of the aircraft in the topographical map of the obstacles; (3) planning a global path of the aircraft by using a probability A star algorithm in accordance with the positions of the start point SP and the stop point EP of the aircraft; and (4) locally optimizing the planned path by using an agent algorithm. The method has advantages of short path length and low thread value, and can be used for determining the optimal path of the aircraft.
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Description

technical field

[0001] The invention belongs to the technical field of spatial data processing, and in particular relates to path optimization of aircraft. The method can be used for path planning in fields such as intelligent navigation and unmanned driving. Background technique

[0002] The aircraft relies on terrain information and enemy information for path planning, that is, under certain constraints, the aircraft searches for the optimal flight path that can preferentially satisfy a specific purpose from the start point to the end point, where the flight path is represented by a series of track points .

[0003] In the process of finding the optimal path, path planning needs to balance the path length and the threat value to the aircraft, so path planning plays an important role in artificial intelligence, overall planning, machine learning and spatial database technology.

[0004] With the continuous development of military technology and actual war requirements, the...

Examples

Embodiment Construction

[0039] Attached below figure 1 The steps of the present invention are further described in detail.

[0040] Step 1. Generate obstacle terrain map:

[0041] let p i ,q i are the coordinates of the starting point and the ending point of each obstacle that the aircraft needs to bypass, respectively for p i point and q i Points make a straight line perpendicular to the X-axis and Y-axis, and the four lines form a rectangle, indicating the obstacle area T i , where i is the number of obstacle areas.

[0042] Step 2. Set the start point SP and end point EP of the aircraft in the obstacle terrain map.

[0043] Step 3. According to the positions of the starting point SP and the ending point EP of the aircraft in step 2, use the probability A-star algorithm to plan the global path.

[0044] refer to figure 2 , the specific implementation of this step is as follows:

[0045] 3a) Divide the obstacle terrain map into a low-precision grid map:

[0046]3a1) Generate a high-precis...