A 3D path planning method based on A* algorithm is proposed. This method introduces the constraints of UAV and line-of-sight communication with ground stations, and it combines the UAV’s maneuverability, mission requirements and terrain information and other constraints together to avoid terrain and threat. The method of extending the child nodes to the 3D detailed position calculation is also provided. The simulation is realized by Unity 3D software, and the simulation results show that the proposed method can be used to plan the 3D path of UAV which meets UAV constraints.


    Access

    Download


    Export, share and cite



    Title :

    3D Path Planning of UAV Based on Improved A * Algorithm


    Contributors:
    Tian Zhe-Tong (author) / Ding Yan (author) / Song Jian-Mei (author) / Zhao Liang-Jin (author) / Zhang Yu-Tong (author)


    Publication date :

    2017




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    Unknown




    UAV Path Planning Based on Improved Genetic Algorithm

    Chen, Baihe / Lai, Songlin / Chen, Chengbin et al. | IEEE | 2021


    Detecting Robots Path Planning Based on Improved Genetic Algorithm

    Cui, Shi-Gang / Dong, Jiang-lei | IEEE | 2013


    Autonomous Vehicle Path Planning Based on Improved Ant Colony Algorithm

    Xing, Yan / Rao, Xin / Liu, Weidong et al. | Springer Verlag | 2022


    Research on local path planning based on improved RRT algorithm

    Zong, Changfu / Han, Xiaojian / Zhang, Dong et al. | SAGE Publications | 2021


    Multi-UAV Collaborative Path Planning Based on Improved Genetic Algorithm

    Guo, Pengfei / Xu, Weiping / Zhu, Yucan et al. | Springer Verlag | 2022