基于改进型A*-Markov联合模型的无人机航路规划

Experimenting an improved A* algorithm is used to plan the mission path of uav. The uav’s step length,the restriction of turning angle and flight height are introduced to effectively reduce the uav’s search space,and constraints such as terrain and mission are introduced to make the route planning closer to the real environment. Considering the uncertainty of the enemy’s ability in the planning process and unpredictability of survival probability of the uav in the route, a markov model was used, which uses eight states markov chain to describe the state of uav. A* algorithm is combined the model in threat area after completed the task,due to the accumulation of time, the outer point’s cost of survival is higger than the inner point, it results too many iterations, but this problem can be avoided by virtue of the lower survival value of concentric circle model, therefore, introducing the united model which combined by the concentric circle model and markov model. Simulation experiment results show that the method can effectively detect route in the probability of various states of the uav and evaluate the whole route, and effectively reduce many iterations only by using the Markov model when planning new route after completing the task.