Route Planning of Unmanned Aerial Vehicle Based on Sparse A* Algorithm

Abstract

Considering the matters of accuracy, real-time, task adaptability and dynamic re-planning for the route planning of unmanned aerial vehicle. When the unmanned aerial vehicle is planning its route on a largescale map, it needs to ensure better real-time performance. If new obstacles are encountered during flight, the route planning algorithm needs to be able to carry out dynamic planning to re-plan the route to avoid the new obstacles. This paper presented an optimized route planning of unmanned aerial vehicle algorithm, which mainly through the management of number of search nodes and stratification strategy while still maintaining a safe route. We also presented a dynamic route re-planning function when encountering new obstacles by updating the map. The algorithm has better real-time performance and robustness. It has great reference value for the practical application of unmanned aerial vehicle.