Path replanning approach for UAV based on A* algorithm in complex environment

Yanying Tan, Yang Li, Jun Zhou, Xiaoping Zhu

Research output: Contribution to journalArticlepeer-review

8 Scopus citations

Abstract

The unmanned aerial vehicle (UAV) path needs to be replanned to avoid pop-up obstacles/forbidden regions and to adapt to new tasks in dynamic war environment. In such complex environment, obstacles/forbidden regions may be modeled as circles or concave/convex polygons, and they may be closed together or even overlapped. The line intersection path planning method based on A* algorithm is improved to adapt to the above environment. Then the sub-node security checking strategy is put forward. Thirdly, the two-step optimal path search strategy is proposed. Simulation results show that the proposed strategies are effective and the feasible path can be dynamically replanned for UAV in such complex environment.

Original languageEnglish
Pages (from-to)1268-1273
Number of pages6
JournalXi Tong Gong Cheng Yu Dian Zi Ji Shu/Systems Engineering and Electronics
Volume39
Issue number6
DOIs
StatePublished - 1 Jun 2017

Keywords

  • A algorithm
  • Path replanning
  • Pop-up obstacles/forbidden regions
  • Strategies
  • Unmanned aerial vehicle (UAV)

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