Path Planning for UCAV in Dynamic and Uncertain Environments Based on Focused D* Algorithm
According to less attention has been paid to the problem of path planning in partially know environment. An improved Focused D* algorithm is proposed for solving the problem that threedimensional path planning for Unmanned Combat Aerial Vehicle (UCAV) in dynamic and uncertain environments with both pop-up and unknown threat. First, a grid model of configuration space were constructed which combination of terrain and threat information. Then, the approach could update the environment information instantly when a pop-up threat turn up. Depending on the environment information, the improved Focused D* algorithm is capable of collision avoidance in threedimensional, and re-planning on line to obtain a new global optimal trajectories. A final set of computer simulations is carried out to demonstrate the effectiveness of the dynamic motion planning algorithm based on the improved Focused D* algorithm which rapid construction of feasible, yet agile, trajectories.
UCAV three-dimensional avoidance optimal dynamic
Xia Chen Dong Liu Ting Tang
Dept. School of Automatic Control Shenyang Aerospace University Shenyang, China
国际会议
杭州
英文
435-438
2011-10-28（万方平台首次上网日期，不代表论文的发表时间）