Fixed-Wing UAV Path Planning Based on Variable Step Size Hybrid A* Algorithm
Wenxuan Liu, Liqian Dou, Xiuyun Zhang, Zheyu Zhang, Hao Cheng · 2025
To ensure that Unmanned Aerial Vehicles (UAVs) can carry out tasks safely and efficiently, path planning is an indispensable element. In order to solve the problem of long computation time in the classical Hybrid A* algorithms, this paper proposes a Variable Step Size Hybrid A* Algorithm, which dynamically adjusts the search step size based on the distribution of obstacles in the UAV's surrounding environment. This approach not only finds the suboptimal path for fixed-wing UAVs but also improves the search efficiency and the robustness of the algorithm. The simulation results demonstrate that the proposed algorithm effectively reduces the time required for path planning.