针对支持卫星通信的巡航导弹预存多个目标打击航迹的特点,给出了一种基于Floyd算法的灵活目标打击航迹规划方法。该方法通过在代价函数中引入高程代价和风险代价,使得Floyd算法能够充分利用地形和威胁信息;通过在算法搜索中考虑导航图的对称性,减少了算法的搜索时间;通过对规划的航迹进行平滑计算,保证了航迹的可行性。给出了灵活航迹的规划步骤和算法复杂性分析,仿真计算结果表明了该方法的有效性。

According to the characteristic that cruise missile which allows satellite communication can reserves many alternate targets' paths, the path planning method for alternate target based on Floyd algorithm was put forward. The Floyd algorithm can avoid terrain and threat by adopting the path cost function with the information of terrain height and thread; the time of path planning is reduced by considering the symmetry of waypoint graph in Floyd algorithm; the path smoothing method guarantees the feasibility of path. The path planning step of alternate target and the analysis of computational complexity were presented, and the validity of such method was proved by the simulation result.