Safe Path Planning Method of UAV Based on Improved A * Algorithm for the Base Station Environment
The base station of the tower company often has complex environment and numerous physical obstacles,resulting in the real-time Unmanned Aerial Vehicle(UAV)path generated by the traditional A* algorithm having multiple times of contact with ob-stacles,too large search range and too many path redundancy points,thus affecting the autonomous landing safety of UAV when the hangar of UAV is deployed in the base station.Aiming at this problem,this paper proposes a safe path planning method of UAV based on improved A* algorithm for the base station environment.Firstly,a penalty term is introduced into the evaluation function of the A* algorithm to improve the global path safety.The penalty term is determined by the distance from the current position to the nearest obstacle.Meanwhile,the adaptive weight is introduced into the heuristic function of A* algorithm to improve the search effi-ciency.Finally,the wire detection strategy is adopted to eliminate the path redundancy points to obtain a safe and energy-efficient global path.Simulation experiments show that the global path planned by the improved A* algorithm is optimized in terms of times of contact with obstacles and search nodes.
A*algorithmUAVglobal pathpath planningheuristic function
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