Unmanned aerial vehicle route planning method based on improved A* algorithm

Abstract

According to the invention, an unmanned aerial vehicle path planning algorithm based on an improved A* algorithm is adopted to optimize a motion path, the actual motion path track length is reduced byamplifying, refining and other operations on the path track, and the purpose of reducing the path length is achieved. The method comprises the following specific steps of: firstly, generating a simulated environment map, modeling according to information of a motion scene of an unmanned aerial vehicle, and generating the simulated environment map to be executed; secondly, determining a path track, establishing a starting point and a target point of the movement of the unmanned aerial vehicle, connecting the routes passed by the unmanned aerial vehicle, and determining a path track; thirdly, carrying out feature selection, and carrying out arc replacement on the periphery of the included angle of two tracks with a certain angle when the direction of the determined path track is changed; and finally, connecting newly generated paths, and connecting part of the replaced paths with the original unchanged paths to obtain an improved new path.

Description

Technical field [0001] The present invention proposes a UAV trajectory planning algorithm research based on improved A* algorithm. Under the premise of ensuring the safety of UAV flight avoidance, it is proposed to replace the path trajectory with arc segments within the allowable range, thereby further shortening The actual path length purpose. Background technique [0002] With the development of modern technology, there are more and more types of aircraft, and their applications are becoming more and more specialized and improved. For example, the DJI PS-X625 UAV is used for street scene shooting and surveillance inspection. The X8 drone of Baoji Xingyi Aviation Technology, and the White Shark MIX underwater drone used for underwater rescue, etc., determine the performance of the aircraft mainly by the internal flight control system and external path planning issues. As far as the path problem is concerned, only relying on the remote controller in the operator’s hands to cont...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to solve the problem that the UAV cannot find the optimal path using the A* algorithm in the path planning process, and proposes to use the UAV path planning algorithm based on the improved A* algorithm to optimize the motion path. The track is enlarged, thinned and other operations to reduce the length of the actual motion path track. In order to achieve the above object, the steps of the present invention are as follows:

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