Real time path planning for UAV based on Focused D

• Published in: 2011 Fourth International Workshop on Advanced Computational Intelligence pp. 80 - 85
• Main Authors: Yingchun Chen, Ye Zhao, Huakui Wang
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01.10.2011
• Subjects: Algorithm design and analysis; Heuristic algorithms; Navigation; Path planning; Real time systems; Spline; Turning
• ISBN: 1612843743; 9781612843742
• DOI: 10.1109/IWACI.2011.6159979

With its long endurance, high safety and low signature, an Unmanned Aerial Vehicle (UAV) plays a great part in intelligence collection, surveillance, reconnaissance, patrol, and target acquisition. Path planning is of significant interest for the autonomous navigation of UAV. A three-dimensional path-planning algorithm based on Focused Dynamic A * algorithm is presented for UAV under three-dimensional dynamic environments. The problem is dealt with at two steps: based on the information from an a priori environment map, a path avoiding static threats is planned according to A * algorithm first. Then, when following the path, UAV updates the map and corrects the path with sensor information by making using of the previous intermediate states of A * . To improve the smoothness of the path, B-spline is adopted for path smoothing. Simulation results show the efficiency and validity of the algorithm.