摘要
针对军用飞行器路径规划中存在的规划空间维数爆炸问题,重点研究了一种简化初始路径规划空间的方法。首先将数字高程地图灰度图像化并叠加等效威胁,得到综合威胁地形灰度图像,在此基础上,引入控制标记符对其进行分水岭分割,从而得到初始路径规划空间的无向网络图。针对网络图中存在的很多不相关的分枝,采用了数学形态学的剪枝算法进行剪枝处理;针对网络节点之间可能存在的并行路径问题,以路径最短为原则裁剪较长的并行路径从而实现初始路径规划空间的优化。最后,运用A*算法进行航路寻优,并在飞行器性能约束条件下对所得航路进行拟合修正。仿真结果表明了该方法的可行性。
Aiming at the dimension blasting problem of aircraft path planning space, a method is put forward for simplifying the initial path planning space. First, it converts the digital map into a gray scale image. By adding the equivalent threats to the gray scale image, it gains a gray scale image with threats of the terrain. On which basis, the watershed algorithm is used to partition the gray scale image by introducing the control tags, and then a non-directed network diagram of the initial path planning space is obtained. In order to optimize the initial path planning space, the pruning algorithm of mathematical morphology is adopted to prune the irrelevant ramifications in the network diagram, and cut the longer path if there are two or more paths between two network nodes. At last, the A＊ algorithm is used to search the best flight path and then revise it to meet the restriction of the aircraft performance. The simulation result proved that the method is viable.
出处
《电光与控制》
北大核心
2009年第12期43-45,73,共4页
Electronics Optics & Control
关键词
分水岭分割算法
低空突防
航路规划
数字地图
watershed algorithm
low altitude penetration
path planning
digital map
