Abstract:
A stratified path dynamic planning strategy in view of multiple weather hazards is proposed to solve the demand of dynamic rerouting planning in thunderstorm weather with a variety of Hazardous weather at the same time.Firstly, according to the radar echo map, the rerouting airspace is planned hierarchically.Secondly, based on the rerouting starting point and rerouting ending point, the sparse A* algorithm combined with the rerouting constraints is used to plan the global path in the layered airspace, and the key points are determined by using the key point selection strategy. Finally, the global path is segmented by the key point, and the real-time path dynamic planning is carried out by using the dynamic window method. The experimental results show that the proposed method had good real-time dynamic path planning performance, and was superior to dynamic sparse A* algorithm, dynamic window method and current strategy. Moreover, The proposed method can also provide information on the changes of the aircraft's speed and course during the process of avoiding dangerous weather for pilots' reference.