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动态环境中的无人机路径规划方法

, PP. 252-256

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Abstract:

为了解决动态环境中的路径规划问题,提出了一种引入时间轴的方法.在构型空间的基础上引入时间轴,将构型空间扩展为构型-时间空间,在构型-时间空间中可以表示动态障碍物所有时刻的位置.在路径生成阶段,提出了一种改进的蚁群算法,将方向信息作为启发信息引入蚁群算法中,使蚂蚁在初始搜索路径时更有针对性.仿真结果表明构型-时间空间可以解决动态环境的表示问题,改进蚁群算法可以更快地收敛到全局最优解.

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