Research on a Path Planning's Method for UAV Based on A~* Algorithm
XI Qing-bia · Fire Control and Command Control · 2013
The model of the terrains,enemy radars and no-fly zones for UAV path planning are researched firstly. To reduce the high computational requirements of the original A*algorithm,a new A*algorithm is presented,which designs the offline paths by a given cost,then chooses some local points on the offline paths for online planning. In order to satisfy the maneuverability of the air vehicle the paths are smoothed by Cubic B-Spline curves. Simulation results show that the computational requirements are lower than the Sparse A*algorithm and it can meet engineering demand.