UAV trajectory planning method and device based on A* algorithm and storage device

Abstract

The invention provides a UAV (Unmanned Aerial Vehicle) trajectory planning method and device based on an A* algorithm and a storage device. The UAV trajectory planning method comprises the following steps: S1: loading data; S2: pre-processing; S3: loading an OPEN table; S4: judging whether the OPEN table is empty; S5: if so, reaching a target point; S6: or else, placing a minimum cost point into aCLOSE table; S7: judging whether an end point is reached; S8: if so, completing the trajectory planning; S9: or else, expanding a neighbor node; S10: judging whether the neighbor node is empty; S11:if so, taking a parent node and judging whether the OPEN table is empty; S12: if so, continuing to take the parent node and judge whether the OPEN table is empty; S13: or else, returning to S6; S14: if the expanded neighbor node is empty, performing constraint processing; S15: judging whether the expanded neighbor node is in the CLOSE table; S16: if so, indicating that the point has been traversed, returning to S7; S17: or else, judging whether the point is stored in the OPEN table; S18: If so, calculating an evaluation function and returning to S4; and S19: or else, returning to S3. The UAV trajectory planning device is used to implement the UAV trajectory planning method. The UAV trajectory planning method and device provided by the invention can plan the trajectory of the UAV.

Description

technical field [0001] The invention relates to the field of intelligent control, in particular to an A* algorithm-based UAV trajectory planning method, device and storage device. Background technique [0002] With the opening of the low-altitude field, the aviation field will face a state of heavy air traffic flow, high flight density, and complex airspace structure. At this time, military and civilian drones will also emerge in large numbers. Here comes a new challenge. How to ensure that various types of unmanned aerial vehicles do not affect each other when using the airspace during wartime, and at the same time do not endanger the flight safety of manned aircraft when performing combat missions; Airspace does not affect the normal flight activities of military and civil aviation manned aircraft, which has become an important issue to be solved urgently at present and in the next few years. Contents of the invention [0003] The present invention provides a UAV traje...

AI Technical Summary

Problems solved by technology

[0002] With the opening of the low-altitude field, the aviation field will face a state of heavy air traffic flow, high flight density, and complex airspace structure. At this time, military and civilian drones will also emerge in large numbers. Here comes a new challenge

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