Real-time route planning algorithm for unmanned aerial vehicles in dynamic environment
Zhang Li · Systems engineering and electronics · 2007
Using the concept of real-time A*,this paper presents a real-time route planning algorithm for unmanned aerial vehicles(UAVs).Combined with motion and route planning,the next suboptimal route is generated in the course of flying.Compared with the single step searching,the multi-step searching is used to generate a more optimized route.The arc segment technology is used to smooth the route.An approach is presented to guide UAVs to voyage the local optimal point in a short time.Finally a numerical simulation demonstrates the efficiency of the algorithm.