CAJ | 학술논문

无人机三维航迹规划由于规划约束众多，同时面临在巨大的搜索空间中寻优，往往规划速度慢，规划效率低．结合二维规划和高度规划实现三维规划是一种有效提升规划速度的解决方案，在利用Fast M arching Method（FMM）进行二维规划的基础上，采用SparseA—star（SAS）搜索算法进行高度规划，分阶段考虑航迹规划的各种环境约束和机动约束，从而压缩规划空间．实验表明，该方法航迹规划速度快，所得到的三维航迹具有良好的地形跟随能力和避障能力．
무인궤삼유항적규화유우규화약속음다，동시면림재거대적수색공간중심우，왕왕규화속도만，규화효솔저．결합이유규화화고도규화실현삼유규화시일충유효제승규화속도적해결방안，재이용Fast M arching Method（FMM）진행이유규화적기출상，채용SparseA—star（SAS）수색산법진행고도규화，분계단고필항적규화적각충배경약속화궤동약속，종이압축규화공간．실험표명，해방법항적규화속도쾌，소득도적삼유항적구유량호적지형근수능력화피장능력．
3D path planning is always slow and in efficient for there are many constraints to be considered while planning, meanwhile, the path is produced by searching in huge space. It is an efficient scheme to improve path planning speed by combining 2D path planning and height planning. We proposed a fast 3D path planning method＇ by planning 2D path with Fast Marching Method （FMM） and making height plan- ning using Sparse A-Star （SAS） searching method, where the environment and maneuverability constraints are processed by stages, thereby, the planning space is reduced. Experiments showed that the proposed method generates path quickly, and the obtained path follows terrain and avoids obstacle well.