计算机科学 ›› 2023, Vol. 50 ›› Issue (6A): 220700127-5.doi: 10.11896/jsjkx.220700127
顾子侣1, 刘宇1, 孙文邦1, 岳广2, 孙商文3
GU Zilyu1, LIU Yu1, SUN Wenbang1, YUE Guang2, SUN Shangwen3
摘要： 针对传统航路规划算法存在速度慢、航路可飞性差、动态调整能力不足的问题,提出一种基于改进快速扩展随机树(Rapidly Exploring Random Tree,RRT)的无人机动态航路规划算法。首先,引入RRT方法进行全局航路规划,同时为加快算法收敛,在随机树待扩展节点的选取上引入目标启发信息,并在新节点生成和添加过程中融入无人机动力学约束,确保生成的航路具有现实可飞性;其次,为了应对突发威胁情况,提出一种动态扩展随机树的方法来对原有随机树进行剪枝和重构,进而快速避开威胁,生成一条安全航路。实验结果表明,相较于传统RRT算法,改进算法的规划速度提升约20%,节点扩展数减少32%,且规划所得航路符合无人机基本动力学约束条件;当面对突发威胁时,其可以快速进行航路动态调整,实现航路重规划。
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