SAS algorithm with changeable steps for route planning of UAVs
Huang Wengang · Computer Engineering and Applications Journal · 2012
To realize autonomous route planning of the UAV under different conditions,a kind of Sparse A* Search(SAS)algorithm with changeable steps is presented.When near the critical threat it switches to small step in the SAS algorithm,which can guarantee the search accuracy and the robustness of the algorithm,otherwise,keeps searching with big step for improving efficiency of the search.Based on the idea of Dynamic Sparse A* Search(DSAS),a multi-step search method which can be applied to real time route planning is provided.Simulation results show that the algorithm can effectively realize route planning in complicated environment and achieve real-time path planning in dynamic environment.