A heuristics pulse algorithm with relaxation pruning strategy for resources re-initialized UAV path planing

Abstract

Path planning is the basis and prerequisite for unmanned aerial vehicle (UAV) to perform tasks, and it is important to achieve precise location in path planning. This paper focuses on solving the UAV path planning problem under the constraint of system positioning error. Some nodes can re-initiate the accumulated flight error to zero and this type of scenario can be modeled as the resource-constrained shortest path problem with re-initialization (RCSPP-R). The additional re-initiation conditions expand the set of viable paths for the original constrained shortest path problem and increasing the search cost. To solve the problem, an effective preprocessing method is proposed to reduce the network nodes. At the same time, a relaxed pruning strategy is introduced into the traditional Pulse algorithm to reduce the search space and avoid more redundant calculations on unfavorable scalable nodes by the proposed heuristic search strategy. To evaluate the accuracy and effectiveness of the proposed algorithm, some numerical experiments were carried out. The results indicate that the three strategies can reduce the search space by 99%, 97% and 80%, respectively, and in the case of a large network, the heuristic algorithm combining the three strategies can improve the efficiency by an average of 80% compared to some classical solution.