提出了一种用于三维空间路径规划的改进A*算法。针对低空突防中无人机飞行环境的复杂性, 综合考虑了飞行高度、航迹长度等权重因子, 在目标空间中搜索一条两个航路点之间的最优航线。选用变步长搜索提高A*算法搜索效率, 设计了变权值的路径评估函数提升优化效果。同时,为了满足无人机俯仰角、偏航角、转弯半径等性能约束, 提出了一系列航线优化算法, 得到最终的可飞航线。仿真结果表明, 提出的算法能够有效地给出更为满意的无人机航迹规划路线。

This paper proposes an improved A* algorithm for 3D spatial path planning. Considering the complexity of UAV flight environment in low-altitude penetration, the algorithm takes the flight altitude and flight length as the weight factors to search the optimal flight path between two waypoints. The variable-step-size search is used to improve the search efficiency of A* algorithm, and the path evaluation function with variable weight is designed to improve the optimization effect. Meanwhile, to satisfy the UAV performance constraints, such as pitch angle, yaw angle and radius of turn, a series of optimization algorithms are proposed to obtain the final flyable path. The simulation results show that the proposed method can provide more satisfactory path-planning for UAVs．