UAV Path Planning Based on Improved A∗ and DWA Algorithms
This work proposes a path planning algorithm based on A∗ and DWA to achieve global path optimization while satisfying security and speed requirements for unmanned aerial vehicles (UAV). The algorithm first preprocesses the map for irregular obstacles encountered by a UAV in flight, including grid pr...
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| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2021-01-01
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| Series: | International Journal of Aerospace Engineering |
| Online Access: | http://dx.doi.org/10.1155/2021/4511252 |
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| _version_ | 1832545938872205312 |
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| author | Xiong Bai Haikun Jiang Junjie Cui Kuan Lu Pengyun Chen Ming Zhang |
| author_facet | Xiong Bai Haikun Jiang Junjie Cui Kuan Lu Pengyun Chen Ming Zhang |
| author_sort | Xiong Bai |
| collection | DOAJ |
| description | This work proposes a path planning algorithm based on A∗ and DWA to achieve global path optimization while satisfying security and speed requirements for unmanned aerial vehicles (UAV). The algorithm first preprocesses the map for irregular obstacles encountered by a UAV in flight, including grid preprocessing for arc-shaped obstacles and convex preprocessing for concave obstacles. Further, the standard A∗ algorithm is improved based on UAV’s flight environment information and motion constraints. Further, the DWA algorithm’s limitations regarding local optimization and long planning time are mitigated by adaptively adjusting the evaluation function according to the UAV’s safety threshold, obstacles, and environment information. As a result, the global optimal path evaluation subfunction is constructed. Finally, the key points of the global path are selected as the subtarget points of the local path planning. Under the premise of the optimal path, the UAV real-time path’s efficiency and safety are effectively improved. The experimental results demonstrate that the path planning based on improved A∗ and DWA algorithms shortens the path length, reduces the planning time, improves the UAV path smoothness, and enhances the safety of UAV path obstacle avoidance. |
| format | Article |
| id | doaj-art-9e449d06d69740ab92977380ef2236a7 |
| institution | Kabale University |
| issn | 1687-5966 1687-5974 |
| language | English |
| publishDate | 2021-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | International Journal of Aerospace Engineering |
| spelling | doaj-art-9e449d06d69740ab92977380ef2236a72025-02-03T07:24:24ZengWileyInternational Journal of Aerospace Engineering1687-59661687-59742021-01-01202110.1155/2021/45112524511252UAV Path Planning Based on Improved A∗ and DWA AlgorithmsXiong Bai0Haikun Jiang1Junjie Cui2Kuan Lu3Pengyun Chen4Ming Zhang5School of Mechatronic Engineering, North University of China, Taiyuan 030051, ChinaShandong Product Quality Inspection Research Institute, Jinan 250000, ChinaSchool of Mechatronic Engineering, North University of China, Taiyuan 030051, ChinaSchool of Mechatronic Engineering, North University of China, Taiyuan 030051, ChinaSchool of Mechatronic Engineering, North University of China, Taiyuan 030051, ChinaSchool of Energy and Power Engineering, North University of China, Taiyuan 030051, ChinaThis work proposes a path planning algorithm based on A∗ and DWA to achieve global path optimization while satisfying security and speed requirements for unmanned aerial vehicles (UAV). The algorithm first preprocesses the map for irregular obstacles encountered by a UAV in flight, including grid preprocessing for arc-shaped obstacles and convex preprocessing for concave obstacles. Further, the standard A∗ algorithm is improved based on UAV’s flight environment information and motion constraints. Further, the DWA algorithm’s limitations regarding local optimization and long planning time are mitigated by adaptively adjusting the evaluation function according to the UAV’s safety threshold, obstacles, and environment information. As a result, the global optimal path evaluation subfunction is constructed. Finally, the key points of the global path are selected as the subtarget points of the local path planning. Under the premise of the optimal path, the UAV real-time path’s efficiency and safety are effectively improved. The experimental results demonstrate that the path planning based on improved A∗ and DWA algorithms shortens the path length, reduces the planning time, improves the UAV path smoothness, and enhances the safety of UAV path obstacle avoidance.http://dx.doi.org/10.1155/2021/4511252 |
| spellingShingle | Xiong Bai Haikun Jiang Junjie Cui Kuan Lu Pengyun Chen Ming Zhang UAV Path Planning Based on Improved A∗ and DWA Algorithms International Journal of Aerospace Engineering |
| title | UAV Path Planning Based on Improved A∗ and DWA Algorithms |
| title_full | UAV Path Planning Based on Improved A∗ and DWA Algorithms |
| title_fullStr | UAV Path Planning Based on Improved A∗ and DWA Algorithms |
| title_full_unstemmed | UAV Path Planning Based on Improved A∗ and DWA Algorithms |
| title_short | UAV Path Planning Based on Improved A∗ and DWA Algorithms |
| title_sort | uav path planning based on improved a∗ and dwa algorithms |
| url | http://dx.doi.org/10.1155/2021/4511252 |
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