An Improved D~* Lite Algorithm Based 3D Path Planning for UAVs When Target is Moving
Dong Liu · Electronics Optics & Control · 2013
With respect to the problem of 3D path planning of Unmanned Aerial Vehicles(UAV) under uncertain environments when the target is moving, a method of fast 3D path planning was designed based on the improved D* Lite algorithm.By use of the improved cost evaluating function and the real-time information of unanticipated threats and moving targets, and based on the constraints together with the improved search algorithm, a method of 3D path planning for UAVs was given.The simulation results demonstrated that the algorithm can not only meet the real-time path planning demands, avoid the unanticipated threats and attack the moving targets, but also reduce the search space, improve the search efficiency and optimizing capability, which is a good method for path planning of UAV under uncertain environments.