Miao Yong-Fei
School of Computer Science and Technology, Wuhan University of Technology, Wuhan, Hubei 430070, China
Zhong Luo
School of Computer Science and Technology, Wuhan University of Technology, Wuhan, Hubei 430070, China
Xia Luo-Sheng
Dalian Air Force Sergeant School of Communication, Dalian, Liaoning, 116600, China
ABSTRACT
Its necessary to study in Unmanned Aerial Vehicle (UAV) three-dimensional path planning and smoothing method in real digital terrain environment because of shortcomings existing. At present, mathematical simulation is often adapted to generate the terrain during the process of the UAV flight path planning, which lacks the reality of performing tasks. Aimed at this case, this study has proposed an Improved Sparse A* Algorithm (ISAA) that introducing the real digital terrain after interpolation and curvature smoothing into planning space. The algorithm combines the terrain constraints and the kinetics constraints of the UAV in the search process of the A * algorithm. And, cubic cardinal spline curves are adapted to smooth the generated three-dimensional path and this makes the path can meet the demands of the curvature and torsion of the UAV. Finally, Experiment results show that this algorithm has reduced the search space and increased the convergence speed. In addition, final planning path is feasible.
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How to cite this article
Miao Yong-Fei, Zhong Luo and Xia Luo-Sheng, 2013. Application of Improved Sparse A* Algorithm in UAV Path Planning. Information Technology Journal, 12: 4058-4062.
DOI: 10.3923/itj.2013.4058.4062
URL: https://scialert.net/abstract/?doi=itj.2013.4058.4062
DOI: 10.3923/itj.2013.4058.4062
URL: https://scialert.net/abstract/?doi=itj.2013.4058.4062
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