一种无人飞行器的路径搜索方法及装置
By constructing a dynamic threat model and the ARA* algorithm, and comprehensively considering factors such as terrain elevation, radar detection, and fire threat, the problems of scene adaptability and 3D trajectory planning in UAV path search are solved, thereby improving path search capability and efficiency.
CN120406498BActive Publication Date: 2026-07-17BEIJING INST OF ENVIRONMENTAL FEATURES
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- BEIJING INST OF ENVIRONMENTAL FEATURES
- Filing Date
- 2025-04-25
- Publication Date
- 2026-07-17
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Figure CN120406498B_ABST
Abstract
本发明提供了一种无人飞行器的路径搜索方法及装置，该方法包括：获取无人飞行器在飞行区域中的任一空间坐标所受到的地形高程威胁、雷达探测威胁和火力威胁；基于地形高程威胁、雷达探测威胁和火力威胁，构建动态威胁模型，以确定任一空间坐标处的综合威胁；根据综合威胁和预设威胁惩罚系数确定任一空间坐标处的惩罚值；根据无人飞行器的最大飞行角度和惩罚值对飞行区域进行路径搜索，得到目标路径。本方案解决了复杂场景中无人飞行器动态路径搜索的问题，提高了无人飞行器在复杂环境下的路径搜索能力和搜索效率。
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