面向动态障碍物的三维A*优化避障算法研究

针对空间站舱内漂浮物、太空碎片密集区域等复杂场景下的动态避障问题，本文提出了一种面向动态障碍物的三维 A*优化避障算法，主要用于完成空间站舱内飞行器和小型空间机器人在上述环境下的路径规划任务。该算法把传统二维 A*算法推广到了三维，然后通过模糊判断规则对路径进行优化，实现运动路径的实时优化，降低在三维无重力环境下的能量消耗。仿真结果表明，该算法可以对三维环境下动态障碍物进行有效避障，并且优化指标提高将近一倍， 能够有效降低能量的消耗。

Research on Three-Dimensional A* Optimal Obstacle Voidance Algorithm for Dynamic Obstacles

Aiming at the problem of dynamic obstacle avoidance in complex scenes such as floating objects and space debris dense areas, a three-dimensional A* optimization obstacle avoidance algorithm for dynamic obstacles is proposed, which is mainly used to complete the path planning tasks of spacecraft and small space robots in the above environment. This algorithm extends the traditional two-dimensional A* algorithm to three-dimensional, and then optimizes the path through fuzzy judgment rules to realize the real-time optimization of the motion path and reduce the energy consumption in the three-dimensional gravity free environment. Simulation results show that the algorithm can effectively avoid obstacles in three-dimensional environment, and the optimization index is nearly doubled, and the energy consumption is effectively reduced.