An Improved Heuristic Algorithm for UAV Path Planning in 3D Environment

摘要：

Path planning problem is one of core contents of UAV technology. This paper presents an improved heuristic algorithm to solve 3D path planning problem. In this study the path planning model is built based on digital map firstly, and then the virtual terrain is introduced to eliminate a significant amount of search space, from 3-Dimensions to 2-Dimensions. Subsequently the improved heuristic A* algorithm is applied to generate UAV trajectory. The algorithm is featured with various searching steps and weighting factor for each cost component The simulation results have been done to validate the effectiveness of this algorithm.

关键词： unmanned aerial vehicle (UAV) path planning virtual terrain heuristic A * algorithm

作者: Zhang Qi Zhenhai Shao Yeo Swee Ping Lim Meng Hiot Yew Kong LEONG

作者单位: School of Communication Engineering,University of Electronic Science and Technology of China Microwave Research Lab,National University of Singapore Intelligent Systems Center,Nanyang Technological University Singapore Technology

会议类型: 国际会议

会议名称: 2010 Second International Conference on Intelligent Human-Machine Systems and Cybernetics(第二届智能人机系统与控制论国际学术会议 IHMSC 2010)

会议地点: 南京

会议语种:英文

页码: 597-600

在线出版日期: 2010-08-26（万方平台首次上网日期，不代表论文的发表时间）