3D Path Planning of UAV Based on Improved A * Algorithm
Zhe-Tong Tian, Yan Ding, Jianmei Song, Liangjin Zhao, Yutong Zhang · ITM Web of Conferences · 2017
A 3D path planning method based on A* algorithm is proposed. This method introduces the constraints of UAV and line-of-sight communication with ground stations, and it combines the UAV’s maneuverability, mission requirements and terrain information and other constraints together to avoid terrain and threat. The method of extending the child nodes to the 3D detailed position calculation is also provided. The simulation is realized by Unity 3D software, and the simulation results show that the proposed method can be used to plan the 3D path of UAV which meets UAV constraints.