Study on 4D Route Planning for UAV Based on A * Algorithm
Zhou Qin · Jisuanji fangzhen · 2014
Route Planning for Unmanned Aerial Vehicle(UAV) refers to searching for a optimum or an appropriate route for an UAV form the start to the objective under the restriction of performance,geography,task,etc.Route Planning for an UAV can improve its survival probability and make sure it accomplishes its tasks in modern complicated battlefield.As the time request of the tasks is stricter,it is becoming challenging for making an UAV get to its objective in requested time while satisfying other restrictions.In respect of the 3D Route-Planning issue in consideration of time restriction,this paper came out of a 4D route that satisfies the required time of arrival,through inducting time-bias into the cost function of A * Algorithm,expanding the node with the least time-bias,and adding speed-adjustment strategy in order to further minimize the time-bias.The result of the simulation indicates that the route planned by the algorithm meets the requirements.