UAV Path Planning based on Bidirectional Sparse A* Search Algorithm

摘要：

Nowadays, unmanned aerial vehicle (UAV) as an effective platform has been widely applied to military and civil fields. This paper focuses on UAV path planning problem. Sparse A* Search algorithm (SAS) proposed by R.J.SZCZERBA for route planning is introduced firstly. Then the Bidirectional Sparse A* Search algorithm (BSAS) is presented after the discussion of the deficiency of the application of SAS algorithm in UAV path planning. BSAS algorithm expands the start point and goal point respectively for searching path and calculates whether there is a Line of Sight (LOS) between every two different expansion nodes produced by the two expansion processes to get UAV path. The results show that the BSAS algorithm has stronger robustness and obtains better planning path than the SAS algorithm.

关键词： UAV A* algorithm path planning

作者: Meng Bo-bo Gao Xiaoguang

作者单位: Northwestern Polyteehnical University, Xian, Shaanxi, 710129, China

会议类型: 国际会议

会议名称: 2010 International Conference on Intelligent Computation Technology and Automation(2010 智能计算技术与自动化国际会议 ICICTA 2010)

会议地点: 长沙

会议语种:英文

页码: 3468-3471

在线出版日期: 2010-05-11（万方平台首次上网日期，不代表论文的发表时间）