To improve the safety of dynamic trajectory planning for unmanned aerial vehicles(UAVs),an improved A* trajectory planning algorithm based on the actual navigation performance of the airborne navigation systems and the maneuverability of the UAV is proposed.The architecture and constraints of the UAV trajectory planning system are analyzed.The weighted heuristic function integrating the maximum allowable turning angle of the UAV,the position uncertainty of the navigation system and the shortest path is constructed to realize the adaptive planning of the UAV dynamic trajectory with multiple constraints.Finally,the simulation analysis and verification are carried out.The simulation results show that,under the same operating environment,the safety margin of the trajectory planned by the improved A * algorithm based on performance constraints is 1.8 times higher than that of the traditional A * algorithm,angle change is reduced to 42.4%of the traditional algorithm,and the trajectory planning time is shortened by 28%.The safety margin of the planned trajectory and the compliance of UAV maneuverability are effectively improved.
UAV trajectory planningestimated position uncertaintyflight maneuverabilitytrajectory safetytrajectory feasibilityimproved A* algorithm
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