Route search strategy for unmanned air vehicle in unknown environment
Zhu Fan · Electronics Optics & Control · 2008
For implementing missions in unknown environment,the UAVs must be capable of making route plan in real-time according to practical environmental changes.To solve the problem,we present a kind of realtime Local Optimization Route Search(LORS) strategy,which integrates the basic thought of rolling time-domain optimization with A* algorithm.Using the basic thought of the A* algorithm,and considering the characteristics of the unknown environment and limits of UAV itself,the algorithm implement on-line route planning with the help of rolling time-domain optimization.It can not only generate a flyable route,but also reduce the calculation cost.According to the result of simulation,the algorithm can generate satisfied paths in the unknown the environment where static and slowly-moving threats exist.