Three-dimensional path planning of UAV based on an improved A∗ algorithm

Tianzhu Ren; Rui Zhou; Jie Xia; Zhuoning Dong

doi:10.1109/CGNCC.2016.7828772

Three-dimensional path planning of UAV based on an improved A∗ algorithm

Tianzhu Ren
, Rui Zhou
, Jie Xia
, Zhuoning Dong

School of Automation Science and Electrical Engineering

Beihang University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

30 Scopus citations

Abstract

The current two-dimension path planning technologies are adequate for semi-autonomous Unmanned Aerial Vehicles (UAV) that operate in a relatively structured environment. However, for UAVs in a complicated uncertain environment the present techniques are inadequate. A three-dimensional (3D) path planning algorithm of UAV which based on improved A∗ algorithm is proposed in this paper in order to solve problem of path planning for UAV in complex environment. First, we attempt to extend the search space of traditional A∗ algorithm to three-dimension. Then we make the heuristic algorithm suitable for UAV with various constraints. Finally, in simulation experiments, the effectiveness of improved A∗ algorithm is verified concerning the accurateness, safety and the adaptability.

Original language	English
Title of host publication	CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	140-145
Number of pages	6
ISBN (Electronic)	9781467383189
DOIs	https://doi.org/10.1109/CGNCC.2016.7828772
State	Published - 20 Jan 2017
Event	7th IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2016 - Nanjing, Jiangsu, China Duration: 12 Aug 2016 → 14 Aug 2016

Publication series

Name	CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference

Conference

Conference	7th IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2016
Country/Territory	China
City	Nanjing, Jiangsu
Period	12/08/16 → 14/08/16

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10.1109/CGNCC.2016.7828772

Cite this

Ren, T., Zhou, R., Xia, J., & Dong, Z. (2017). Three-dimensional path planning of UAV based on an improved A∗ algorithm. In CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference (pp. 140-145). Article 7828772 (CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CGNCC.2016.7828772

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title = "Three-dimensional path planning of UAV based on an improved A∗ algorithm",

abstract = "The current two-dimension path planning technologies are adequate for semi-autonomous Unmanned Aerial Vehicles (UAV) that operate in a relatively structured environment. However, for UAVs in a complicated uncertain environment the present techniques are inadequate. A three-dimensional (3D) path planning algorithm of UAV which based on improved A∗ algorithm is proposed in this paper in order to solve problem of path planning for UAV in complex environment. First, we attempt to extend the search space of traditional A∗ algorithm to three-dimension. Then we make the heuristic algorithm suitable for UAV with various constraints. Finally, in simulation experiments, the effectiveness of improved A∗ algorithm is verified concerning the accurateness, safety and the adaptability.",

author = "Tianzhu Ren and Rui Zhou and Jie Xia and Zhuoning Dong",

note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 7th IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2016 ; Conference date: 12-08-2016 Through 14-08-2016",

year = "2017",

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doi = "10.1109/CGNCC.2016.7828772",

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series = "CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference",

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Ren, T, Zhou, R, Xia, J & Dong, Z 2017, Three-dimensional path planning of UAV based on an improved A∗ algorithm. in CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference., 7828772, CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference, Institute of Electrical and Electronics Engineers Inc., pp. 140-145, 7th IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2016, Nanjing, Jiangsu, China, 12/08/16. https://doi.org/10.1109/CGNCC.2016.7828772

Three-dimensional path planning of UAV based on an improved A∗ algorithm. / Ren, Tianzhu; Zhou, Rui; Xia, Jie et al.
CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference. Institute of Electrical and Electronics Engineers Inc., 2017. p. 140-145 7828772 (CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

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AU - Ren, Tianzhu

AU - Zhou, Rui

AU - Xia, Jie

AU - Dong, Zhuoning

PY - 2017/1/20

Y1 - 2017/1/20

N2 - The current two-dimension path planning technologies are adequate for semi-autonomous Unmanned Aerial Vehicles (UAV) that operate in a relatively structured environment. However, for UAVs in a complicated uncertain environment the present techniques are inadequate. A three-dimensional (3D) path planning algorithm of UAV which based on improved A∗ algorithm is proposed in this paper in order to solve problem of path planning for UAV in complex environment. First, we attempt to extend the search space of traditional A∗ algorithm to three-dimension. Then we make the heuristic algorithm suitable for UAV with various constraints. Finally, in simulation experiments, the effectiveness of improved A∗ algorithm is verified concerning the accurateness, safety and the adaptability.

AB - The current two-dimension path planning technologies are adequate for semi-autonomous Unmanned Aerial Vehicles (UAV) that operate in a relatively structured environment. However, for UAVs in a complicated uncertain environment the present techniques are inadequate. A three-dimensional (3D) path planning algorithm of UAV which based on improved A∗ algorithm is proposed in this paper in order to solve problem of path planning for UAV in complex environment. First, we attempt to extend the search space of traditional A∗ algorithm to three-dimension. Then we make the heuristic algorithm suitable for UAV with various constraints. Finally, in simulation experiments, the effectiveness of improved A∗ algorithm is verified concerning the accurateness, safety and the adaptability.

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M3 - 会议稿件

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T3 - CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference

SP - 140

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BT - CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 7th IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2016

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ER -

Ren T, Zhou R, Xia J, Dong Z. Three-dimensional path planning of UAV based on an improved A∗ algorithm. In CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference. Institute of Electrical and Electronics Engineers Inc. 2017. p. 140-145. 7828772. (CGNCC 2016 - 2016 IEEE Chinese Guidance, Navigation and Control Conference). doi: 10.1109/CGNCC.2016.7828772

Three-dimensional path planning of UAV based on an improved A∗ algorithm

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