Research on Trajectory Planning Algorithm of Unmanned Aerial Vehicle Based on Improved A* Algorithm

摘要

In the research of UAVs'trajectory planning algorithm, the path of unmanned aerial vehicles should be calculated according to the known information of terrain, physiognomy, obstacle, threatening, and etc, as well as flight capability of itself before executing mission and accomplish the mission by tracking the path. An improved A * algorithm combined with the performance and mission of unmanned aerial vehicle (UAV) is proposed, and the algorithm is applied to solve the problem of avoiding threat of UAVs in known dangerous environment, a method of trajectory planning algorithm of unmanned aerial vehicle was studied at the condition of considering comprehensively influence factors of route cost and threat cost. A numerical simulation in reference route planning of UAV s demonstrates the correctness and effectiveness of the improved A* algorithm.