CAJ | 학술논문

无人机变向会导致航程的增加，距离威胁中心越近遇险概率也越大。本文在原D*算法启发函数的基础上增加了与转角相关的项以及到威胁中心距离相关的项。仿真结果表明，改进算法能以很小距离代价的增加，换取了转角代价和威胁代价的大大减小。为了使得航路尽可能光滑可飞，本文还对航路序列进行三次样条插值处理，达到了预期效果。
무인궤변향회도치항정적증가，거리위협중심월근우험개솔야월대。본문재원D*산법계발함수적기출상증가료여전각상관적항이급도위협중심거리상관적항。방진결과표명，개진산법능이흔소거리대개적증가，환취료전각대개화위협대개적대대감소。위료사득항로진가능광활가비，본문환대항로서렬진행삼차양조삽치처리，체도료예기효과。
The turn of lfying UAV wil leads to the increasing range, the threat probability wil be bigger while it is closer to the threat center. So, on the basis of heuristic function in D* algorithm, this paper increased items associated with the corner and the distance of the threat center. The simulation results show that the improved algorithm achieves greatly reduction of the corner cost and threat cost at the expense of a narrowly increasing range. In order to make the route smooth and lfyable as far as possible, this paper also used the cubic spline interpolation to smooth the route sequence, and achieves the desired objective.