Abstract When operating autonomous unmanned aerial vehicles (UAVs) in real environments it is necessary to deal with the effects of wind that causes the aircraft to drift in a certain direction. In such conditions it is hard or even impossible for UAVs with a bounded turning rate to follow certain trajectories. We designed a method based on an Accelerated A* algorithm that allows the trajectory planner to take the wind effects into account and to generate states that are reachable by UAV. This method was tested on hardware UAV and the reachability of its generated trajectories was compared to the trajectories computed by the original Accelerated A*.
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机译：摘要在现实环境中操作自动无人飞行器（UAV）时，必须应对风的影响，这种影响会导致飞机向某个方向漂移。在这种情况下，具有有限转弯速率的无人机很难甚至无法遵循某些轨迹。我们设计了一种基于Accelerated A *算法的方法，该方法允许轨迹规划器考虑风的影响并生成无人机可到达的状态。该方法在硬件无人机上进行了测试，并将其生成的轨迹的可达性与由原始Accelerated A *计算的轨迹进行了比较。
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