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论文:2020,Vol:38,Issue(6):1284-1290 |
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引用本文： |
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程凝怡, 刘志乾, 李昱奇. 一种基于Dijkstra的多约束条件下智能飞行器航迹规划算法[J]. 西北工业大学学报 |
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CHENG Ningyi, LIU Zhiqian, LI Yuqi. Path Planning Algorithm of Dijkstra-Based Intelligent Aircraft under Multiple Constraints[J]. Northwestern polytechnical university |
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| 一种基于Dijkstra的多约束条件下智能飞行器航迹规划算法 |
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| 程凝怡1, 刘志乾2, 李昱奇1 |
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1. 中国石油大学(北京) 安全与海洋工程学院, 北京 102249;
2. 中国石油大学(北京) 机械与储运工程学院, 北京 102249 |
| 摘要: |
| 针对智能飞行器最优航迹快速规划问题，考虑误差约束及校正概率约束，构建多约束条件下智能飞行器航迹规划模型，并提出基于Dijkstra的全局搜索算法求解模型。所提算法通过计算剩余误差和约束飞行距离，对基础Dijkstra算法进行改进，使其在求解多约束条件下航迹规划问题时具有更好的适应性。同时，以航迹长度最短且满足误差约束为目标开展仿真实验，仿真实验结果为飞行器到达终点时共经过18个校正点，航迹长度144 287.932 m，垂直误差为17.254个单位，水平误差为6.420个单位，结果均满足误差要求，表明多约束条件下智能飞行器航迹规划模型和基于Dijkstra的全局搜索算法在解决此类问题方面具有一定的合理性。 |
| 关键词:
Dijkstra算法
误差校正
航迹规划
误差约束
校正概率约束
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| Path Planning Algorithm of Dijkstra-Based Intelligent Aircraft under Multiple Constraints |
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| CHENG Ningyi1, LIU Zhiqian2, LI Yuqi1 |
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1. College of Safety and Ocean Engineering, China University of Petroleum-Beijing, Beijing 102249, China;
2. College of Mechanical and Transportation Engineering, China University of Petroleum-Beijing, Beijing 102249, China |
| Abstract: |
| Aiming at the rapid planning of the optimal flight path of the intelligent aircraft, considering the error constraints and correction probability constraints, a model for intelligent aircraft path planning under multiple constraints is constructed, and a global search algorithm based on Dijkstra algorithm is proposed to solve the model. By calculating the residual error and restricts flight distance, the basic Dijkstra algorithm is improved to make it more adaptable to solve the path planning under multiple constraints. At the same time, simulation experiment is conducted with the optimal goal of the shortest track length and satisfying the error constraints. The experimental results show that the aircraft passed a total of 18 correction points when it reached the destination. The total track length was 144 287.932 m, the vertical position error was 17.254 units, and the horizontal position error was 6.420 units. The results meet the error requirements. The results show that the intelligent aircraft path planning model and Dijkstra-based global search algorithm with multiple constraints are reasonable in solving such problems. |
| Key words:
Dijkstra algorithm
error correction
track planning
error constraint
correction probability constrain
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| 收稿日期: 2020-01-16
修回日期:
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| DOI: 10.1051/jnwpu/20203861284 |
| 通讯作者:
Email： |
| 作者简介: 程凝怡(1996-),女,中国石油大学(北京)硕士研究生,主要从事水下装备智能控制研究。
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