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《Electronics Optics & Control》 2008-12
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Fast 3D-route planning for UAV based on the LPA~* algorithm

BAO Fan,JIANG Chang-sheng (College of Automation,Nanjing University of Aeronautics and Astronautics,Nanjing 210016,China)  
The fast route-planning for Unmanned Aerial Vehicle(UAV) was studied.At first,the path planning was divided into two steps according to practical requirements:a 2D itinerary planning and a 3D path planning between 2D way points.Then the initial multi-mission itinerary was generated through Dijkstra algorithm by using the weighted graphs gained from the 2D threat modeling.Finally by integrating the constraint conditions during the flight of UAV,an algorithm of 3D LPA* based on dynamic weighting was presented to implement the 3D-route planning between the way points generated in 2D route,which also satisfied terrain avoidance and threat avoidance.Simulation results show that the method proposed in this paper can accomplish the route planning effectively and rapidly.When the digital map changes,the LPA* algorithm can avoid global search by checking the local consistency,and thus greatly reduce the search space,which leads to fast route amendment.
【Fund】: 航空基金项目资助(05C52007)
【CateGory Index】: V249.1
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