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中文摘要: 针对多障碍环境下固定翼无人机在线三维航迹规划问题，开展了结合无人机性能及避障约束的航迹规划方法研究。首先，基于障碍物模型和无人机运动学模型，建立航迹规划问题模型；其次，结合无人机运动学模型，对稀疏A*算法的节点扩展方式进行改进，使其适应三维航迹规划问题的求解；再次，改进节点代价函数，引入高度惩罚项，提高算法的避障能力，能够充分利用高度空间进行避障；最后，通过仿真实验验证分析算法的有效性。仿真结果表明，该算法具有较好的寻优性能和收敛效率，实时性较好，能够在多障碍环境下为无人机规划满足约束的航迹。进一步进行了硬件在环的半实物仿真实验，验证了所提出算法的有效性。
Abstract:In order to solve the online 3D path planning problem of fixed-wing UAVs in multi-obstacle environments, research on the path planning method combining the unmanned aerial vehicle(UAV)’ performance and obstacle avoidance constraints is carried out. The node expansion method of the sparse A* algorithm is improved to adapt it to the solution of the 3D path planning problem by combining the UAV kinematic model with the obstacle model. Finally, the effectiveness of the analyzed algorithm is verified through simulation tests. The simulation results show that the improved sparse A* search(SAS) algorithm has better performance in seeking and convergence efficiency, and better real-time performance, which can plan paths for the UAV that satisfy the constraints in a multi-obstacle environment. Further semi-physical simulations of the flight control in the loop were conducted to verify the effectiveness of the proposed algorithm.
文章编号：20250305 中图分类号：V221+.3；TB553 文献标志码：A
基金项目:国家自然科学基金联合基金项目（U2241215）
| Author Name | Affiliation |
| WANG Qiusheng | Beijing Institute of Mechanical and Electrical Engineering |
| HU Song | Beijing Institute of Mechanical and Electrical Engineering |
引用文本：
王秋生,胡松.基于改进SAS的在线三维航迹规划方法[J].飞控与探测,2025,8(3):55-62.
王秋生,胡松.基于改进SAS的在线三维航迹规划方法[J].飞控与探测,2025,8(3):55-62.