| Li Xia(李霞),Wei Ruixuan,Wang Zhike.[J].高技术通讯(英文),2011,17(1):13~18 |
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| Three-dimension path planning for UAV using improved A* algorithm in complicated threat environment |
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| DOI： |
| 中文关键词: |
| 英文关键词: improved A* algorithm, path planning, digital map, path smoothing |
| 基金项目: |
| Author Name | Affiliation | | Li Xia(李霞) | | | Wei Ruixuan | | | Wang Zhike | |
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| 中文摘要: |
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| 英文摘要: |
| In order to improve the battle effectiveness of the unmanned aerial vehicle(UAV) under the increasingly complex threat environment, a three-dimension path planning method based on an A* algorithm is proposed and simulated in this paper which makes the UAV satisfy requirements of different missions. At first, the digital map information is processed with an integrated terrain smoothing algorithm, and a safe flight surface which integrates the vehicle dynamic is built and added on the terrain, and then, models of the complicated threats are established and integrated into the digital terrain. At last, an improved A* algorithm is used to plan the three-dimension path on the safe surface, and then smooth the path. Simulation results indicate that the approach has a good performance in creating an optimal path in the three-dimension environment and the path planning algorithm is more simple, efficient and easily realized in the engineering field. |
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