Research and Optimization of D-Start Lite Algorithm in Track Planning

Abstract

With the widespread application of the aircraft, how to achieve the safety and efficiency of the aircraft during flight has attracted widespread attention. The track planned by the traditional D-Start Lite algorithm is very close to the obstacle. Due to the large size of the aircraft itself, it is very likely that the aircraft will collide with the obstacle when operating in a real environment. However, the existing D-Start Lite algorithm is only a single solution to the safety problem of trajectory planning or to improve the efficiency of the algorithm's trajectory search. Therefore, this article optimizes the existing D-Start Lite algorithm. First, this article adopts the strategy of selecting priority level by child nodes. The child nodes in the vertical direction are selected as the first-level nodes. The state of the first-level node determines whether the second-level node on the diagonal needs to be expanded, so that a safe distance is generated between the planned path and the obstacle, thus improving the safety of the path. However, a certain space is reserved between the track and the obstacle, which results in the increase of the number of nodes in the path and the low efficiency of search. This article improves and optimizes the valuation function and heuristic function in the algorithm. Therefore, the number of expansion nodes and the number of inflection points are reduced, and the search efficiency of the algorithm is improved. Therefore, the improved algorithm improves the efficiency of trajectory search while ensuring the safety of trajectory planning. And the effectiveness and feasibility of the algorithm are proved by the MATLAB platform.

Keywords

• D-Start lite algorithm
• heuristic function
• selection of child nodes
• trajectory planning
• valuation function