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

摘要： 为研究无人机三维航路动态规划，提出了一种工程实用性强的A*三维航路优化算法，将无人机的机动性能、飞行航程、飞行高度等约束条件有效分割到解空间。为了加快搜索速度，引入启发式权重系数对搜索策略进行改进，利用加权值自适应方法对算法的评价函数进行设计，提高航迹点搜索效率，并设计了导引控制律，基于优化算法获取的航路，能够使无人机很好地跟随规划的最优路径，同时生成的期望控制指令充分考虑了无人机本身的机动性能以及实时性要求，解决了航迹规划与航迹跟踪之间的问题，最后进行了仿真验证，结果表明，该方法是可行和有效的，有着较高的优化效率；易于实现，工程实用性强。

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