一种带终点进入角度约束的路径规划方法
By improving the multi-step rolling prediction and obstacle avoidance of A* path planning, and combining the heuristic path cost function of dynamic virtual target points, the problem of the endpoint entry angle constraint of unmanned motion platforms is solved, and efficient path planning is achieved.
CN116086452BActive Publication Date: 2026-07-17SHANGHAI AEROSPACE CONTROL TECH INST
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- SHANGHAI AEROSPACE CONTROL TECH INST
- Filing Date
- 2022-12-08
- Publication Date
- 2026-07-17
AI Technical Summary
Technical Problem
Existing path planning methods struggle to constrain the entry angle of the unmanned motion platform to a specified endpoint, thus affecting mission performance.
Method used
A multi-step rolling prediction method is adopted to improve the single-step search of A* path planning. Collision constraints are combined to avoid obstacles. The optimal expansion direction is selected for path planning by calculating the heuristic path cost function value of the dynamic virtual target point.
Benefits of technology
It enables path planning in obstacle-prone environments, satisfying the constraint of the endpoint entry angle, thus improving the accuracy and efficiency of path planning.
✦ Generated by Eureka AI based on patent content.
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Figure CN116086452B_ABST
Abstract
本发明公开了一种带终点进入角度约束的路径规划方法，用于无人平台对环境障碍规避以及在执行具有终点进入角度约束任务时的路径规划。所述路径规划方法具备对环境障碍的避障功能和终点进入角度启发规划功能。所述避障功能，采用多步滚动预测方式改进A*路径规划的单步搜索方式，在多个离散化搜索方向所确定的扩展节点搜索空间中，向前扩展多个节点后进行避障约束判断，以预测该扩展方向的可选性。所述启发规划功能，首先根据终点进入角度约束得到切入圆弧上的动态虚拟目标点，再通过计算到达动态虚拟目标点的启发式路径代价函数值，并选取最优代价值所处方向进行路径规划节点扩展。
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