An Improved Heuristic Algorithm for UAV Path Planning in 3D Environment

Author

Qi, Zhang ; Shao, Zhenhai ; Ping, Yeo Swee ; Hiot, Lim Meng ; Leong, Yew Kong

Author_Institution

Sch. of Commun. Eng., Univ. of Electron. Sci. & Technol. of China, China

Volume

2

fYear

2010

fDate

26-28 Aug. 2010

Firstpage

258

Lastpage

261

Abstract

Path planning problem is one of core contents of UAV technology. This paper presents an improved heuristic algorithm to solve 3D path planning problem. In this study the path planning model is built based on digital map firstly, and then the virtual terrain is introduced to eliminate a significant amount of search space, from 3-Dimensions to 2-Dimensions. Subsequently the improved heuristic A* algorithm is applied to generate UAV trajectory. The algorithm is featured with various searching steps and weighting factor for each cost component. The simulation results have been done to validate the effectiveness of this algorithm.

Keywords

aircraft; attitude control; mobile robots; path planning; position control; remotely operated vehicles; search problems; 3D environment; UAV path planning; UAV trajectory; digital map; improved heuristic A* algorithm; searching step; unmanned aerial vehicle; virtual terrain; weighting factor; Heuristic algorithms; Mathematical model; Radar; Three dimensional displays; Trajectory; Unmanned aerial vehicles; heuristic A algorithm; path planning; unmanned aerial vehicle (UAV); virtual terrain;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Human-Machine Systems and Cybernetics (IHMSC), 2010 2nd International Conference on

Conference_Location

Nanjing, Jiangsu

Print_ISBN

978-1-4244-7869-9

Type

conf

DOI

10.1109/IHMSC.2010.165

Filename

5590919