Three-dimensional path planning based on A* and artificial potential field algorithm
Zhanlong Yang, Yawen Xiong, Huike Zhou, Zilong Wang · 2023
Aiming at the problem that the traditional A* algorithm has a long search time, many redundant points and can only avoid known static obstacles, a new variable weight A* potential field algorithm is proposed. The algorithm combines the improved A* algorithm and the artificial potential field method. The A* algorithm with variable weights is used to quickly and efficiently plan the global path, and then the improved path is generated by re-wiring. When the UAV enters the dynamic obstacle along the path generated by the A* algorithm When the influence is in the range, the dynamic obstacle avoidance is based on the attraction and repulsion functions of the improved artificial potential field method. The fusion algorithm is compared with other algorithms in 3D environment simulation through MATLAB, and the feasibility of the fusion algorithm is verified, which can effectively avoid unknown dynamic obstacles.