Abstract:

In order to relieve the operation burden and time consume for unmanned aerial vehicle (UAV) path planning, a novel UAV path planning method named LAStar algorithm is proposed which as well guarantees the adaption in scenarios of various threat areas and terrains. Under the roundness assumption of all threat areas and no-fly-zones, the Laguerre diagram algorithm is applied to pre-plan the flight path which largely benefits path re-plan because of shrunk operation space. With the original shape of threat areas, improved A-Star algorithm is then applied in path replanning with reference to pre-planned path. Finally, optimize the path planned above. Simulations show the LA-Star algorithm satisfies time and veracity requirements.