Research on 3D Path Planning of Quadrotor Based on Improved A* Algorithm

Author:

Zheng WeiORCID,Huang Kaipeng,Wang Chenyang,Liu Yang,Ke Zhiwu,Shen Qianyu,Qiu Zhiqiang

Abstract

Considering the complexity of the three-dimensional environment and the flexibility of the quadrotor aircraft, using the traditional A* algorithm for global path planning has the disadvantages of less search direction, more expanded nodes, and a longer planning path. Therefore, an improved A* algorithm is proposed, which is improved from two aspects. Firstly, a two-layer extended neighborhood strategy is proposed, which can increase the search direction and make better use of the flexibility of the aircraft. Secondly, the heuristic function is improved to make the heuristic function value closer to the actual planning path distance, which can reduce the expansion nodes and optimize the planning path. Finally, the path planning simulation of the improved A* algorithm is carried out and the results show that the path planned by the improved algorithm is shorter and the expanded nodes are fewer, which can guide the quadrotor to reach the destination better.

Funder

Pre research project of Equipment Development Department of the Military Commission

Publisher

MDPI AG

Subject

Process Chemistry and Technology,Chemical Engineering (miscellaneous),Bioengineering

Cited by 1 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

1. A passage time–cost optimal A* algorithm for cross-country path planning;International Journal of Applied Earth Observation and Geoinformation;2024-06

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