Path planning for UAV based on improved heuristic A∗ algorithm

A 3D vehicle path planning method based on heuristic A∗ algorithm is proposed and simulated which makes the UAV's path planning for low altitude penetration more real-time, effective and engineering-oriented. The digital terrain information is processed with the integrated terrain elevation smoothing algorithm at first, and then, the safe flight surface which integrates the maneuverability of vehicle is built, At last, the mathematical models of the threats are established. An improved A∗ algorithm is used to plan 3D vehicle path on the safe surface, and the planned path is optimized and smoothed. Simulation results indicate that the method has a good performance in creating optimal path in 3D environment and what's more, the path planning algorithm is simple, efficient and easily realized in engineering field, thus adapting to the different missions of the UAV.