为在微小型固定翼无人机嵌入式平台上应用航迹规划，设计一种基于稀疏A*算法的自动航迹规划方法。 根据微小型固定翼无人机的应用环境、特点和运动约束，建立航迹规划的环境模型和运动模型，利用单元分解法实 现飞行区域环境建模和无人机运动建模，使用稀疏A*算法进行航迹规划，给出其操作使用流程，并对2 种不同的启 发函数进行仿真分析。结果表明：该方法能提高航迹规划的安全阈度，优化算法。
For using route planning on embedded system of small fixed-wing UAV, design an automatic route planning method based on sparse A* algorithm. According to the application environment, characteristics and motion constraints of small fixed-wing UAV, establish the environmental model and the motion model of route planning. Use unit decomposition method to realize environmental model of fight area and the motion model of UAV. Use sparse A* algorithm for route planning, and give the operation program. Two different heuristic functions were simulated and analyzed. The results show that the safety of route planning is improved and the algorithm is optimized.