Research on real-time path planning of indoor MAV
Avic Shanxi · Electronic Measurement Technology · 2014
Path planning is an important link of air vehicle's autonomous navigation.To achieve real-time path planning for the Micro Air Vehicle(MAV)which flies in an unknown complex indoor environment,an A*based memoryless algorithm is proposed.To deal with the problems such as the limitation of detection range of sensor,existence of moving obstacles,and real-time requirements,the path planning process is simplified.In addition,some modifications about the calculation of cost function,and the way to update the open list are adopted to improve the traditional A*algorithm.At last,real-time path decision and guidance in unknown indoor environment are realized.The practicability and high efficiency are demonstrated by simulation result.