Path Planning of Emergency Rescue UAV Based on Improved A Algorithm
Aiming at the shortcomings of the traditional path planning algorithm for rescue UAVs,such as a large number of search expansion nodes,long search path time,and uneven planning trajectory,an improved A∗algorithm for emergency rescue UAV path planning was proposed.The diagonal distance was used as a heuristic function and exponentially weighted,and the search optimization was carried out through a two-way search strategy,and the gener-ated path points were fitted with a Bezier curve.A variety of unstructured maps were designed in the experiment,and the Dijkstra algorithm,the traditional A∗ algorithm and the improved A∗ algorithm were compared in terms of the number of search expansion nodes,the length of the planned path and the search path time.The experimental results show that the number of search expansion nodes of the improved A∗ algorithm in the various maps designed is at least 59.82%and 39.40%lower than that of the Dijkstra algorithm and the traditional A∗algorithm,and the search path time is reduced by at least 57.38%and 33.46%,respectively.,the planned path is optimized by the Bezier curve to meet the actual flight requirements of the UAV,which can achieve high-efficiency UAV emergency rescue.
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