高原环境低空空域CPPA-A*算法

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中图分类号：V249 文献标志码：A DOI： 10.12305/j.issn.1001-506X.2026.03.27

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 inpaths，andatwo-levelsafetyenvelopeisconsistentlyappliedasthesafety warningrangethroughout.Secondly， when dealing with areas with significant terain undulations，therepulsive field method inthe improved artificial potential field methodisemployed tooptimize the height distributionofpath nodes，therebyreducingtheimpactofheight variationson flight.Thefinalpath issmothedthroughtwo-levelpathoptimizationusingLaplacianandGaussiantoreducethemagnitude 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 9 331.62m 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.

Keywords：colision-free path planning algorithm（CPPA）；two-level safety envelope；improved repulsive field method；two-level path optimization

0 引言

推进，低空空域下的通航飞机航路规划需求显著增长，特别是在紧急救援、资源勘探、环境监测和旅游观光等方面的应用尤为突出。（剩余15674字）