The invention provides a UAV (Unmanned Aerial Vehicle)
trajectory planning method and device based on an A*
algorithm and a storage device. The UAV
trajectory planning method comprises the following steps: S1: loading data; S2: pre-
processing; S3: loading an OPEN table; S4: judging whether the OPEN table is empty; S5: if so, reaching a target point; S6: or else, placing a minimum cost point into aCLOSE table; S7: judging whether an end point is reached; S8: if so, completing the
trajectory planning; S9: or else, expanding a neighbor node; S10: judging whether the neighbor node is empty; S11:if so, taking a parent node and judging whether the OPEN table is empty; S12: if so, continuing to take the parent node and judge whether the OPEN table is empty; S13: or else, returning to S6; S14: if the expanded neighbor node is empty, performing constraint
processing; S15: judging whether the expanded neighbor node is in the CLOSE table; S16: if so, indicating that the point has been traversed, returning to S7; S17: or else, judging whether the point is stored in the OPEN table; S18: If so, calculating an
evaluation function and returning to S4; and S19: or else, returning to S3. The UAV trajectory planning device is used to implement the UAV trajectory
planning method. The UAV trajectory
planning method and device provided by the invention can plan the trajectory of the UAV.