现代电子技术

采用常规A*算法进行无人机避障航线规划存在搜索节点多、区域大、时间长、效率低，生成的航线拐角多且含有大量非必要航线冗余点，以及未考虑无人机自身体积与尺寸导致在飞行中与障碍物边界碰撞等问题。为此，文中设计一种改进的A*算法。首先考虑无人机自身体积与尺寸，提出一种消除边界碰撞事故的子节点扩展方法；其次，改进评价函数以减少往复搜索次数，减少搜索节点数量，提高搜索效率；然后，根据Floyd思想对生成的航线进行简化处理，消除航线中的冗余航路点，减少航线转角数量，达到简化航线并改善航线平滑度的效果；最后，基于改进的A*算法对无人机避障航线进行非线性仿真。结果表明，改进的A*算法生成的航线合理、安全，使无人机的飞行更加连续和顺畅。

The conventional A* algorithm for UAV obstacle avoidance route planning has many problems such as multiple search nodes,large area,long time,low efficiency,many generated route corners including a large number of unnecessary route redundancy points,and collision with obstacle boundaries in flight due to the failure to consider the size and size of UAV itself. An improved A* algorithm is designed. A sub-node expansion method to eliminate boundary collision accidents is proposed considering the volume and size of UAV. The evaluation function is improved to reduce the number of reciprocating searches,reduce the number of search nodes,and improve the search efficiency. The generated route is simplified according to Floyd' s idea to eliminate redundant waypoints in the route,reduce the number of route corners,and achieve the effect of simplifying the route and improving the smoothness of the route. Based on the improved A* algorithm,the obstacle avoidance route of UAV is simulated nonlinearly. The results show that the route generated by the improved A* algorithm is reasonable and safe,making the flight of UAV more continuous and smooth.