Path Planning for Dynamic Target Based on Kalman Filtering Algorithm and D~* Algorithm
Wu Jia · Electronics Optics & Control · 2014
Aiming at the problems such as hysteresis and large calculation amount during path planning of moving targets,we put forward a path planning method suitable for moving target in dynamic environments.First of all,the Kalman filter algorithm was used to estimate the next position of the target. Then,the D*algorithm was used for the path planning of the UAV by taking its current position as a starting point,and the target's predicted position as a destination. In order to reduce the prediction error and ensure efficient route planning,the dynamic observation periods were used. Since the Kalman filtering algorithm predicts the next state of UAV according to a recursive formula,it doesn't need a lot of historical data( one at most). The prediction algorithm can not only reduce the calculation cost,but also has strong real-time performance. The simulation results show that the algorithm can effectively shorten the distance and reduce the time needed for getting to the target position.