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

Yanying Tan, Yang Li, Jun Zhou, Xiaoping Zhu

科研成果: 期刊稿件文章同行评审

8 引用 (Scopus)

摘要

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.

源语言英语
页(从-至)1268-1273
页数6
期刊Xi Tong Gong Cheng Yu Dian Zi Ji Shu/Systems Engineering and Electronics
39
6
DOI
出版状态已出版 - 1 6月 2017

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