Aiming at the problems of slow search speed and many redundant nodes of traditional A*algo-rithms in UAV trajectory planning when facing complex environments and high-dynamic tasks,a 3D UAV trajectory planning method based on the combination of optimized bi-directional A*algorithm and artificial potential field is proposed.By adopting a bidirectional search mechanism and setting weight coefficients to optimize the heuristic function,introducing an adaptive step-size strategy,and dynamically adjusting the bidirectional A*search step-size by using an adjustment factor,the Bi-A*PF algorithm is proposed by comprehensively considering the global planning and real-time obstacle avoidance requirements.Simulation experiments show that compared with traditional trajectory planning methods,the Bi-A*PF algorithm not only enables the UAV to efficiently plan a desired trajectory in a 3D environment,but also effectively a-voids unexpected threats.
关键词
无人机/双向A*算法/人工势场算法/航迹规划
Key words
UAV/bidirectional A* algorithm/artificial potential field algorithm/trajectory planning
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