基于优化犃 和犕犘犆融合算法的三维无人机航迹规划

In view of the shortcomings of the traditional A* algorithm in 2D unmanned aerial vehicle (UAV) trajectory planning, a 3D UAV trajectory planning method that fuses the optimized A* algorithm with model predictive control is proposed. An optimized A* algorithm based on 3D space is proposed by compressing the search space and smoothing operation, and a fusion algorithm of optimised A* algorithm and model predictive control is constructed by considering the global planning and real-time obstacle avoidance requirements. Simulation verification shows that the proposed fusion algorithm can achieve real-time UAV obstacle avoidance trajectory planning in 3D complex environment, with fewer search nodes, shorter and smoother path lengths, and has good environmental adaptability.