Abstract:

The unmanned aerial vehicle (UAV) path needs to be replanned to avoid pop-up obstacles/ forbidden regions and to adapt to new tasks in dynamic war environment.In such complex environment, obstacles/ forbidden regions may be modeled as circles or concave/convex polygons, and they may be closed together or  even overlapped. The line intersection path planning method based on A* algorithm is improved to adapt to the above environment.Then the sub-node security checking strategy is put forward. Thirdly, the two-step optimal path search strategy is proposed. Simulation results show that the proposed strategies are effective and the feasible path can be dynamically replanned for UAV in such complex environment.