Title :
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
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;
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
DOI :
10.1109/IHMSC.2010.165
