Research On Trajectory Planning Algorithm Of Unmanned Aerial Vehicle Based On Improved A~* Algorithm

In the modern battlefield environment,the unmanned aerial vehicle mission planning system has become a vital part of the combat system.In the task planning,the most important and the most complex is to plan a flight track for the unmanned aerial vehicle to complete the flight mission.The essence of track planning of unmanned aerial vehicle is to find an optimal or suboptimal flight track from the starting point to the target point under the given constraint condition in the flight area.At present,how to effectively avoid obstacles and threats and achieve autonomous flight without interference has become a widespread concern and urgent problem to solve.Because the A~* algorithm is simple,the algorithm is easy to be realized,and the convergence of the global optimal solution can be guaranteed in theory,but the A~* algorithm itself is difficult to meet the actual requirements of unmanned aerial vehicles,based on this situation,the study of unmanned flight path planning algorithm based on improved A~* algorithm is developed in this paper.The main work of this paper is reflected in the following aspects:First of all,as one of the core of Mission Planning System,track planning is a new technology developed with modern information technology.In modern warfare,track planning is an effective means to improve the operational effectiveness of aircraft and to implement remote accurate strike.Then,referring to the related books and literatures,we can see that A~* algorithm as a heuristic graph search algorithm can better meet with the various constraints and requirements in the path planning problem.In this paper,the A~* algorithm is chosen as the basic algorithm of track planning,and the theoretical research and algorithm improvement are carried out,and mathematical modeling of related issues of route planning is carried out,the contents include track space,threat model and the representation of flight path,basic constraint conditions and evaluation methods of flight path.Finally,in order to obtain a flight track that can accurately identify the starting point to the target point and can effectively avoid the threat,in this paper,an improved A~* algorithm is proposed,which combines the performance of the unmanned aerial vehicle(UAV)itself,the track constraint conditions and the improved obstacle avoidance algorithm,in the improved algorithm,it solves the problem that the traditional A~* algorithm is time-consuming in large space search and the obstacle avoidance algorithm can not meet the actual requirements,the improved algorithm is applied to solve the threat evasion problem of unmanned aerial vehicle under known dangerous environment.In the case of comprehensive consideration of the path and threat factors,a theoretical analysis of the algorithm of unmanned flight path planning based on improved A~* algorithm is carried out,the mathematical simulation of the algorithm is also carried out,the simulation results prove the correctness and effectiveness of the track planning algorithm based on improved A~* algorithm.