关键词: 航迹规划, 导航精度约束, Dijkstra算法, 遗传算法, 误差校正

Abstract:

To solve the quick path planning problem of UAVs（Unmanned Aerial Vehicles） under multiple constraints, a UAVs path planning model under the navigation accuracy constraint is established and a method of path planning based on Dijkstra algorithm is proposed. Through the optimization of the correction strategies and schemes with the O-D adjacency matrix, the traditional Dijkstra algorithm is improved by simplifying the search path, reducing the computational complexity and enhancing the execution efficiency. On the premise of satisfying the constraint condition of navigation accuracy, the simulation experiment is carried out with the shortest path length and the least number of correction points as the research target. By comparing the results with the traditional Dijkstra algorithm and genetic algorithm, it is found that the algorithm is better than the other two in accuracy and complexity. The experiment shows that the UAVs path planning model under the navigation accuracy constraint and the method of path planning based on Dijkstra algorithm are correct, effective and advanced in solving the problem of UAVs path planning under the multi-constraint conditions.

Key words: path planning, navigation accuracy constraint, Dijkstra algorithm, genetic algorithm, error correction