Unmanned plane airline routing algorithm based on improved A* algorithm

Abstract

The invention relates to an airline routing algorithm of an unmanned plane in a large-range complicated three-dimensional space. The algorithm comprises the following steps: first dividing a three-dimensional space on the basis of a 2.5-dimensional grid (each grid point includes longitude, altitude and elevation information); improving the A* cost function by comprehensively considering the influence factors such as airline height, detected probability, airline distance under the constraint conditions of radar, disaster weather and forbidden areas, and determining an initial airline on the basis of an algorithm search flow; serially processing the initial airline to obtain a final flying airline for meeting the performance constraint of the unmanned plane (such as minimal step length, turning radius, climbing rate, safety height). The algorithm is good in stability and astringency, high in efficiency, capable of meeting the wide-range low-altitude airline routing requirement and applicable to relevant fields such as military, national defense, emergency relief.

Description

technical field [0001] The present invention specifically relates to an algorithm, in particular to a route planning algorithm for unmanned aerial vehicles in a large-scale complex three-dimensional space. Background technique [0002] Modern military low-altitude penetration is mainly completed by UAVs. In order to improve the survival probability and combat effectiveness of low-altitude UAVs, it is necessary to use the shielding effect of the terrain to fly at low or ultra-low altitudes in the blind zone of the enemy's defense system. Among them, the key issue is the route planning of UAV. The research on this problem has a history of many years, and there are many research results. Some scholars try to find intelligent optimization algorithms in artificial intelligence and other related fields, but they all have some common disadvantages in solving the problem of large-scale UAV path search. The mature application of the A* algorithm in the field of two-dimensional grap...

AI Technical Summary

Problems solved by technology

The mature application of the A* algorithm in the field of two-dimensional graph search makes it have inherent advantages in solving this problem. Complex threats such as radar and severe weather

However, the calculation of real-time section calculation of mountainous terrain is too large, and the theoretical premise of UAV flying at a certain height is not established

(3) Regardless of the maneuverability constraints of the UAV, it is not a flyable route

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