UAV path planning based on improved A * and artificial potential field algorithm
Luji Guo, Chenbo Zhao, Jiacheng Li, Qichen Yan, Li Wen, Pengyun Chen · 2024
The traditional A * algorithm cannot guarantee that the obtained path is optimal in path planning, and the path generally has many inflection points. By improving the weight of the cost function h(n), the optimal path is obtained; Secondly, adding hypothetical target points based on each inflection point as the basis for path partitioning to make the overall path smoother. The traditional APF method has the problems of unreachable targets and local optima. By increasing the target position function and introducing virtual target points, the gravitational and repulsive fields experienced by the drone are changed, enabling the UAV to quickly respond to obstacles and plan the correct path to avoid them. According to the simulation results, the improved fusion of the two algorithms can plan a smooth optimal path and reasonably avoid obstacles.