Research on Algorithm of UAV Route Planning Based on Variable Weight Search Strategy
Fen Zhao · Fire Control and Command Control · 2014
Based on the theory of A* algorithm in the Path Planning Problem,a novel algorithm for search strategy optimization of UAV three-dimensional dynamic route planning is presented. Introducing heuristic weight coefficient to improve the search strategy,using method of adaptive algorithm weighted value of evaluation function to design has greatly increased the track point search efficiency. To facilitate the application in practice,effective solution space contains constraints of UAV,the guidance control law is designed in the paper. It can make the UAV follow the optimal path planning based on the optimization algorithm. At the same time generate the expectations of the control instruction give full consideration to the UAV itself of motor performance and real-time requirements,solve the problem between the path planning and path tracking. The simulation result shows that the method proposed in this paper is feasible and effective and the result obtained is easy to the application of engineering.