基于D＊算法方向指针的水下远程武器航路规划方法研究

远程武器航路规划的目的是使引导远程武器追踪并攻击目标。当攻击运动目标时，通常采用的处理方法是将运动目标航迹分解为多个静态目标来规划，但该种方法会出现计算周期长、盘旋重复运动等问题。针对上述问题，该文设计了一种基于D＊算法方向指针的动态规划方法，可大幅减少计算量和避免盘旋运动问题的发生，并且通过模拟仿真，验证了该方法的有效性。该方法可为远程武器的有效运用提供重要参考价值。

Research of Path Planning of Long Range Underwater Weapon Based on D* Algorithm Direction Pointer

The purpose of the path planning was to make the weapon catch up with the tracing object. When attacking mobile object, dividing the trajectory of object into several static object was the traditional method, the disadvantage was long period of computation, the cy- cling behavior in local area and the lag between vehicle and object. Thereby the dynamic planning based on D＊ algorithm direction pointer was brought out, which to reducing the computation and solved circle problem. The validity of the method was proved by simulation and offered reference for the operation of long range underwater weapon.