计算机工程
計算機工程
계산궤공정
COMPUTER ENGINEERING
2014年
2期
11-15
,共5页
航迹规划%A*算法%方向约束%引导点%代价函数%动态引导
航跡規劃%A*算法%方嚮約束%引導點%代價函數%動態引導
항적규화%A*산법%방향약속%인도점%대개함수%동태인도
path planning%A* algorithm%directional constraints%guide point%cost function%dynamic guiding
传统 A*算法在进行具有端点方向约束的航迹规划时，由于缺乏方向引导而导致效率低下。针对该问题，提出一种动态引导 A*算法。在原有 A*算法的基础上引入动态变化的引导点，给出引导点的设置策略，构造新的代价函数，设计引导点的切换方法。实验结果表明，在进行具有端点方向约束的航迹规划时，通过设置合适的引导点参数，该方法可以规划出从起始点的特定方向出发、并沿指定方向到达目标的飞行航迹，且与传统 A*算法相比，其规划速度能够提高10倍以上。
傳統 A*算法在進行具有耑點方嚮約束的航跡規劃時，由于缺乏方嚮引導而導緻效率低下。針對該問題，提齣一種動態引導 A*算法。在原有 A*算法的基礎上引入動態變化的引導點，給齣引導點的設置策略，構造新的代價函數，設計引導點的切換方法。實驗結果錶明，在進行具有耑點方嚮約束的航跡規劃時，通過設置閤適的引導點參數，該方法可以規劃齣從起始點的特定方嚮齣髮、併沿指定方嚮到達目標的飛行航跡，且與傳統 A*算法相比，其規劃速度能夠提高10倍以上。
전통 A*산법재진행구유단점방향약속적항적규화시，유우결핍방향인도이도치효솔저하。침대해문제，제출일충동태인도 A*산법。재원유 A*산법적기출상인입동태변화적인도점，급출인도점적설치책략，구조신적대개함수，설계인도점적절환방법。실험결과표명，재진행구유단점방향약속적항적규화시，통과설치합괄적인도점삼수，해방법가이규화출종기시점적특정방향출발、병연지정방향도체목표적비행항적，차여전통 A*산법상비，기규화속도능구제고10배이상。
In the path planning with endpoint directional constraints, traditional A* algorithm is inefficient due to lack of directional guide. To solve this problem, the dynamic guiding A* algorithm is proposed, which introduces dynamic guide points on the basis of the A*algorithm. The dynamic guiding strategies are given, and then a guiding points generation method is proposed. At the same time, a new evaluation function is designed, and the switch method of the guide points is described. Experimental results show that compared with traditional A* algorithm, this new method can find the resultant path which goes from the specific direction of the start point to the fixed direction of the target efficiently as well by setting the proper parameters, while the planning speed can be improved by more than 10 times.
