摘要： 针对航路实时重规划中快速性和准确性的矛盾，提出一种层次化结构的混合A*方法。该方法包括离线全局航路规划、事件触发全局重规划和时间触发局部航路规划3个层次，各个层次分别采用多层A*方法、局部快速实时A*方法和多层变步长A*方法实现。通过在不同威胁情况下的数值仿真结果表明，该方法能够快速、准确地给出最优航路。

关键词: 航路规划, 混合A*方法, 实时重规划, 层次化结构, 事件触发器, 时间触发器

Abstract: Aiming at the contradiction between rapidity and veracity during real-time route re-planning, a kind of mixed A* with hierarchical structure is presented. This method includes three levels, the global route planning, event triggered global re-planning and time triggered local route planning, which is realized respectively by the multi-layered A* method, local fast real-time A* method and multi-layer variable step A* long way. The result of numerical simulation under different threat shows that the method is able to realize the fast and accurate target of real-time air route re-planning.

Key words: route planning, mixed A* method, real-time re-planning, hierarchic structure, event trigger, time trigger

中图分类号: 

• TP39