通过引入状态空间节点的概念生成三维航迹搜索空间,将原来的航迹规划问题简化为在状态空间中的搜索寻优问题。再利用改进估价函数,将约束条件和优化的搜索算法相结合,有效减小搜索空间,提高搜索速度。仿真结果表明,生成的航迹具有自主地形跟随、地形规避和威胁规避的能力,并具有根据任务决策偏好选择飞越威胁的能力。

A 3-D route planning method for UCAV based on heuristic algorithm was proposed and simulated. The concept of state space nodes was introduced in forming the 3-D search space. So the original route planning issue is simplified to searching the optimum in the state space. An improved evaluating function was utilized to incorporate the constrain conditions into the optimized searching algorithm, thus the search space could be minished effectively and search speed be increased, and a desirable UCAV route could be generated efficiently. Simulation result showed that the generated route has the function of terrain following, terrain avoidance and threat avoidance, which can also be changed to fly over the threat by mission preference. Simulation results are provided to illustrate the idea.