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

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.