Volume 38, Number 6, December 2020
|Page(s)||1284 - 1290|
|Published online||02 February 2021|
Path Planning Algorithm of Dijkstra-Based Intelligent Aircraft under Multiple Constraints
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
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.
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。
Key words: Dijkstra algorithm / error correction / track planning / error constraint / correction probability constrain
关键字 : Dijkstra算法 / 误差校正 / 航迹规划 / 误差约束 / 校正概率约束
© 2020 Journal of Northwestern Polytechnical University. All rights reserved.
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