关键词: 无人机, 三维航路, 动态规划, 搜索策略, 加权值自适应, 导引控制

Abstract: Aiming to study three-dimensional dynamic route planning of UAV, this paper proposes a new A* optimization method in detail for engineering practical, effective solution space contains maneuverability, flight range, altitude and other constraints of UAV. Introducing heuristic weight coefficient to improve the search strategy, using method of adaptive algorithm weighted value of evaluation function to design has greatly increased the track point search efficiency, the guidance control law is designed in the paper. It can make the UAV follow the optimal path planning based on the optimization algorithm. At the same time the generated expectations of the control instruction give full consideration to the UAV itself of motor performance and real-time requirements, solve the problem between the path planning and path tracking. The simulation result shows that the method proposed in this paper is feasible and effective and the result obtained is easily to the application of engineering.

Key words: Unmanned Aerial Vehicle（UAV）, Three dimensional path, dynamic programming, search strategy, adaptive weighted value, guidance control