Path replanning approach for multiple UAVs based on SAS(sparse A^* Search) algorithm under human automation collaboration

An improved path replanning sparse A^* search algorithm based on the strategy of human-automation collaboration is proposed for multiple UAVs under complex and dynamic war environment. The proposed strategy is that the sub-goal waypoints can be inserted manually in the dynamic path replanning window through human-automation collaboration with the A^* algorithm executing automatically. The replanning waypoints are processed further and merged. Simulation experimental results and their analysis show preliminarily that the above method can obtain an subjectively satisfactory result rapidly, satisfying the requirements of popup-threat avoidance, collision avoidance among multiple paths, reducing search space and computation time, and making the number of replanned waypoints smaller and transmission time shorter.