A real-time path planning method for emergent threats

Considering real-time path planning in emergent threats and starting from engineering practice this paper put forward a method for real-time path planning. Combined with dynamic battlefield environment real-time path planning constraints are classified. According to the receding horizon control thought, the rolling detection and planning process is designed, also the time and space constraints of this method are quantitatively analyzed by the detection range of airborne equipments. Traditional A* algorithm is improved by clipping search area according to the UAV maneuver performance, each rolling planning track is optimized and the algorithm data structure is improved. The simulation results show that the real-time path planning method is effective and feasible. It can meet the requirements of real-time path planning when the emergent threats occur on battlefield.