Abstract:

In order to solve the problem that the route planning of the small unmanned aerial vehicle (UAV) can hardly satisfy the constraint of itself and the requirements of the real-time planning, the threats in the environment are separated into passable threats and impassable threats. Based on the sequential programming, a reference route is planned using particle swarm optimization and a real-time route is planned using the modified sparse A* algorithm. To improve the efficiency of the route planning, 3D route planning is transformed into 2D horizontal route planning and height planning. Simulation results demonstrate that the proposed method could obtain a feasible 3D route, and the planning time is highly reduced.