Research on Multi-Strategy A * Path Planning Algorithm
Yunyan Shi, Zhe Zhou, Yunhui Li, Shize Yang · 2023
For the purpose of path planning of UAVs in complicated 3D environments, an improved A * algorithm is proposed. Firstly, in order to ensure the safety of UAVs in the path searching process, the UAV's own power consumption and flight altitude limitations are taken into account, while the evaluation function of adaptive weights is introduced to improve the efficiency of the algorithm; secondly, in order to solve the problem of storage explosion of traditional 3D A* algorithms in complex environments, a modified In order to solve the problem of storage explosion of traditional 3D A* algorithm in complex environment, we propose to modify the search direction and storage method, which reduces the storage space by 30.4% and 98.82% respectively, and the running time by 43.99% and 99.63% respectively; finally, we solve the problem that the traditional 3D A* algorithm has too many inflection points leading to the search path is too long through the deletion of the redundant nodes, and the length of the path is shortened by 11 % after the improvement; the improved algorithm is analyzed through the comparison of simulations. The improved algorithm can be analyzed by simulation and comparison, and it can be seen that the improved algorithm occupies less storage space, runs faster, and the path length is shorter, which is obviously better than the traditional 3D A* algorithm.