On 3-D Path Planning for Air Vehicle Based on Heuristic A~* Algorithm
Jianliang Peng · Electronics Optics & Control · 2009
A 3-D path planning method for air vehicle based on heuristic A*algorithm was proposed and simulated.At first,the altitude raster data was processed by integrated terrain elevation smoothing algorithm,and a safe flight surface was built up which satisfied the maneuverability of the air vehicle.Considering also the mathematical model of threat factors,an improved A* algorithm was used to plan 3D vehicle paths on the safe flight surface.Then the planned paths were optimized and smoothed.Simulation result indicated the method could obtain the optimal path in 3-D environment and the path planning algorithm is simple,efficient and easily realized in engineering,which could adapt to different mission requirements of the air vehicle.