Trajectory planning for unmanned aerial vehicle based on sparse A~* search for practical engineering
DU Ji-yong · Jisuanji yingyong yanjiu · 2013
This paper discussed researches applied sparse A* to efficiently construct feasible,yet agile,trajectories for UAV during a low altitude penetration mission for the practical engineering purpose.Considering the dynamic constraints of UAV,the requirements of mission and adversarial environment,it improved the performance of sparse A* from the following aspects: node search strategy,configuration of path node in memory,maintenance of the OPEN list.To satisfy the requirement of entering the target at a given angle,it proposed a virtual circle based method to resolve the constraint of the minimum turn radius of UAV.It also designed the information structure and storage mode of path node.And it enhanced the real time performance of sparse A* through the min-binary-heap approach to maintenance of the OPEN list.Finally,this paper applied this method to a UAV trajectory planning system and simulation results demonstrated the efficacy of the approach.