Study on 3D Path Planning of UAV
Song Ziqi, Xiaoqiang Xu, Yan Fen Mao, Lirong Guo · 2021 IEEE 21st International Conference on Communication Technology (ICCT) · 2021
To solve the problems that traditional artificial potential field (APF) is easy to fall into the minimum trap in the process of three-dimensional path planning and the traditional A * algorithm is inefficient, an APF -A * fusion search algorithm is proposed. Firstly, in order to avoid the unmanned aerial vehicle (UA V) falling into the minimum trap in the search process of artificial potential field algorithm, A * search algorithm is added to the algorithm. After the artificial potential field method falls into the minimum trap, the A * algorithm is used to continue searching the path, so as to escape from the minimum point and find the target point. Secondly, that search speed of the A * algorithm in the fusion algorithm will affect the overall search efficiency. by reasonably set the virtual target points, the path of A * search can be reduced when the UAV is guided to escape from the minimum trap by using the A * search algorithm. There by realizing faster path planning. Finally, the paths planned by the fusion algorithm are optimized to reduce unnecessary paths. The fusion algorithm solves the problem that the traditional artificial potential field method falls into the minimum. At the same time, it has higher search efficiency than A * algorithm and lower flight cost.