摘要
该文提出一种飞行路线图上的实时三维航迹规划方法,将航迹规划过程分成两个阶段:学习阶段和查询阶段。在学习阶段,环境信息结合在路线图中,在查询阶段,采用SAS算法搜索飞行路线图,实时获得三维可行航迹。构图和航迹搜索过程中分阶段满足飞行器约束条件。通过更新路线图中边的代价,实现了动态环境中飞行器的实时规划。
In this paper,a novel route planner based on roadmap is proposed,which splits the route planning process into two phases:the learning phase and the query phase.In learning phase,environmental information is integrated into the constructed roadmap and this roadmap can be used to find routes between different pairs of nodes in next step.In query phase,the SAS algorithm is used to search for routes for air vehicle in the roadmap.Constraints of air vehicles are met in these two phases.After updating the cost of each edge in the roadmap,this planner can give a feasible route for air vehicle in dynamic environment in real time.
出处
《计算机工程与应用》
CSCD
北大核心
2004年第17期218-221,共4页
Computer Engineering and Applications
基金
中国航天科工集团基金项目
海军工程大学科学研究基金项目(编号:E330)资助
关键词
飞行器
航迹规划
实时处理
随机路线图
air vehicle,route planning,real-time processing,probabilistic roadmap
