一种具有端点方向约束的快速航迹规划方法

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lO倍以上。

A Fast Path Planning Method with Endpoint Directional Constraints

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.