Route Planning of Unmanned Aerial Vehicle Based on Sparse A* Algorithm

摘要：

　　Considering the matters of accuracy,real-time,task adaptability and dynamic re-planning for the route planning of unmanned aerial vehicle.When the unmanned aerial vehicle is planning its route on a largescale map,it needs to ensure better real-time performance.If new obstacles are encountered during flight,the route planning algorithm needs to be able to carry out dynamic planning to re-plan the route to avoid the new obstacles.This paper presented an optimized route planning of unmanned aerial vehicle algorithm,which mainly through the management of number of search nodes and stratification strategy while still maintaining a safe route.We also presented a dynamic route re-planning function when encountering new obstacles by updating the map.The algorithm has better real-time performance and robustness.It has great reference value for the practical application of unmanned aerial vehicle.

关键词： Optimized route planning Unmanned aerial vehicle Dynamic re-planning

作者: Tian-shu BI Ping YE Yu-nong XU Fei-hu ZHANG

作者单位: Department of Automation,Beijing University of Posts and Telecommunications,Beijing,China

会议类型: 国际会议

会议名称: 2019 International Conference on Informatics, Control and Robotics 2019信息学、控制和机器人学国际会议(ICICR2019)

会议地点: 上海

会议语种:英文

页码: 31-37

在线出版日期: 2019-06-16（万方平台首次上网日期，不代表论文的发表时间）