一种无人机自主变步长航迹规划方法

现有无人机航迹规划搜索算法大多采用定步长搜索算法，鉴于威胁分布具有不均匀性和突发性．提出了一种无人机自主变步长快速航迹搜索算法。该算法借鉴了稀疏A＊搜索算法的部分思想，结合威胁分布信息调整搜索步长，有效减少了搜索时间。仿真结果表明该算祛能够快速规划出满足任务需求及约束条件的无人机航迹。验证了算法的正确性和有效性。

An Autonomous Variable Step-length Trajectory Planning Algorithm for UAV

Most existing trajectory planning algorithms for UAV adopt fixed step-length during searching.A fast autonomous variable step-length trajectory search algorithm for UAV was proposed since the threats are asymmetric and paroxysmal.The searching step-length is adjusted properly considering the location information of threats to reduce searching time.The simulation results show that with the algorithm,the trajectory that meets mission demands and restrictions quickly can be obtained quickly,which prove the cor...