An improved A* algorithm strategy and its application in UAV threat avoidance problem
Denghui Jiang, Zhihao Zhang, Boyu Feng · 2025
This article studies the obstacle avoidance problem of unmanned aerial vehicles based on the improved A* algorithm, and applies the improved A* algorithm to achieve obstacle avoidance methods for unmanned aerial vehicles facing fixed and dynamic obstacles. The purpose is to improve the safety of obstacle avoidance and the smoothness of obstacle planning paths for unmanned aerial vehicles, and make certain contributions to the future intelligent and effective obstacle avoidance of unmanned aerial vehicles, successfully achieving mission goals. The traditional A algorithm has a low efficiency in handling complex environments and is prone to getting stuck in local optima. Therefore, we have improved the traversal method and valuation function of A*, and proposed a new improved A* obstacle avoidance algorithm. The results of comparative experiments show that the improved algorithm proposed in this paper has significantly improved obstacle avoidance effectiveness and operational efficiency, ensuring the safety of unmanned aerial vehicles during obstacle avoidance. Therefore, this algorithm has better applicability and generalizability.