高原环境低空空域CPPA-A*算法

doi:10.12305/j.issn.1001-506X.2026.03.27

系统工程与电子技术 ›› 2026, Vol. 48 ›› Issue (3): 1031-1038.doi: 10.12305/j.issn.1001-506X.2026.03.27

• 制导、导航与控制 • 上一篇

高原环境低空空域CPPA-A*算法

朱睿¹^,², 申传鹏², 梁钰迎², 吴佳缔², 陆敬蔚², 刘志荣¹^,²^,*

1. 厦门大学航空航天学院，福建厦门 361102
2. 西藏民族大学信息工程学院，陕西咸阳 712082

收稿日期:2025-01-21 出版日期:2026-03-25 发布日期:2026-04-13
通讯作者: 刘志荣
作者简介:朱　睿（1980—），男，副教授，博士，主要研究方向为计算流体力学、飞行器任务规划
申传鹏（1998—），男，硕士研究生，主要研究方向为飞行器航路规划
梁钰迎（1998—），女，硕士研究生，主要研究方向为飞行器视觉辅助检测
吴佳缔（2002—），男，硕士研究生，主要研究方向为飞行器导航与控制
陆敬蔚（1998—），女，硕士研究生，主要研究方向为飞行器障碍物检测与识别
基金资助:
西藏自治区重点研发计划(XZ202401ZY0102，XZ202403ZY0019，XZ202402ZY0017)；厦门市自然科学基金(3502Z20227179)；教育部人文社会科学规划基金(23XZJAZH001)；西藏自治区自然科学基金重点项目(XZ202401ZR0055)；福建省自然科学基金(2022J01058)；中国航空科学基金(2023Z032068001)；水声对抗技术重点实验室基金(JCKY2024207CH05)；西藏民族大学基金(Y2024050)资助课题

CPPA-A* algorithm for low-altitude airspace in plateau environment

Rui ZHU¹^,², Chuanpeng SHEN², Yuying LIANG², Jiadi WU², Jingwei LU², Zhirong LIU¹^,²^,*

1. School of Aerospace Engineering，Xiamen University，Xiamen 361102，China
2. School of Information Engineering，Xizang Minzu University，Xianyang 712082，China

Received:2025-01-21 Online:2026-03-25 Published:2026-04-13
Contact: Zhirong LIU

摘要/Abstract

摘要：

针对如何提高通用航空器适应高原环境复杂地形环境和自主躲避威胁的能力，设计了一种适用于通用航空器的无碰撞路径规划算法(collision-free path planning algorithm, CPPA)-A*。首先，在传统A*算法的基础上引入高度成本函数以改善路径的高度波动问题，并使用两级安全包络作为安全警示范围贯穿始终。其次，在处理地形起伏较大的区域时，采用改进人工势场法中的斥力场法优化路径节点的高度分布，减少高度起伏对飞行的影响。最终路径通过Laplacian和Gaussian两级路径优化进行平滑处理，降低路径的转向变化幅度；CPPA-A*高度波动较快速扩展随机树算法降低65.3%，飞行路径长度与三维A*算法相比缩短9 331.62 m，计算效率提升39.9%。结果表明，所提算法可为高原环境复杂地形约束的航路规划技术研究提供技术支撑。

关键词: 无碰撞路径规划算法, 两级安全包络, 改进斥力场法, 两级路径优化

Abstract:

To enhance the ability of general aviation aircraft to adapt to complex terrain environments on plateaus and autonomously avoid threats, a collision-free path planning algorithm (CPPA)-A* suitable for general aviation aircraft is designed. Firstly, a height cost function is introduced on the basis of the traditional A* algorithm to address the issue of height fluctuations in paths, and a two-level safety envelope is consistently applied as the safety warning range throughout. Secondly, when dealing with areas with significant terrain undulations, the repulsive field method in the improved artificial potential field method is employed to optimize the height distribution of path nodes, thereby reducing the impact of height variations on flight. The final path is smoothed through two-level path optimization using Laplacian and Gaussian to reduce the magnitude of the path’s turning changes. The CPPA-A* reduces altitude fluctuations by 65.3% compared to the fast expanding random tree algorithm, shortens the flight path length by 9 331.62 m compared to the three-dimensional A* algorithm, and improves computational efficiency by 39.9%. The results indicate that the proposed algorithm can provide technical support for the research of route planning technology with complex terrain constraints in high-altitude environments.

Key words: collision-free path planning algorithm （CPPA）, two-level safety envelope, improved repulsive field method, two-level path optimization

中图分类号:

V 249

朱睿, 申传鹏, 梁钰迎, 吴佳缔, 陆敬蔚, 刘志荣. 高原环境低空空域CPPA-A*算法[J]. 系统工程与电子技术, 2026, 48(3): 1031-1038.

Rui ZHU, Chuanpeng SHEN, Yuying LIANG, Jiadi WU, Jingwei LU, Zhirong LIU. CPPA-A* algorithm for low-altitude airspace in plateau environment[J]. Systems Engineering and Electronics, 2026, 48(3): 1031-1038.

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算法	直达路径时间/s	直达路径长度/m	避障路径时间/s	避障路径长度/m
RRT算法	76.835	82 471.71	93.217	79 204.58
三维A*算法	94.264	69 105.38	127.359	74 469.28
CPPA-A*算法	71.021	56 292.84	76.565	65 137.66

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高原环境低空空域CPPA-A*算法

CPPA-A* algorithm for low-altitude airspace in plateau environment

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