LAPSE:2023.11236
Published Article
LAPSE:2023.11236
Research on 3D Path Planning of Quadrotor Based on Improved A* Algorithm
February 27, 2023
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.
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.
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Keywords
A* algorithm, heuristic algorithm, neighborhood strategy, quadrotor
Subject
Suggested Citation
Zheng W, Huang K, Wang C, Liu Y, Ke Z, Shen Q, Qiu Z. Research on 3D Path Planning of Quadrotor Based on Improved A* Algorithm. (2023). LAPSE:2023.11236
Author Affiliations
Zheng W: Science and Technology on Thermal Energy and Power Laboratory, Wuhan 430064, China; Wuhan Second Ship Design and Research Institute, Wuhan 430064, China [ORCID]
Huang K: School of Mechanical Engineering & Electrical Engineering, University of Electronic Science and Technology of China, Chengdu 611731, China
Wang C: Science and Technology on Thermal Energy and Power Laboratory, Wuhan 430064, China; Wuhan Second Ship Design and Research Institute, Wuhan 430064, China
Liu Y: School of Mechanical Engineering & Electrical Engineering, University of Electronic Science and Technology of China, Chengdu 611731, China
Ke Z: Science and Technology on Thermal Energy and Power Laboratory, Wuhan 430064, China; Wuhan Second Ship Design and Research Institute, Wuhan 430064, China
Shen Q: School of Mechanical Engineering & Electrical Engineering, University of Electronic Science and Technology of China, Chengdu 611731, China
Qiu Z: Science and Technology on Thermal Energy and Power Laboratory, Wuhan 430064, China; Wuhan Second Ship Design and Research Institute, Wuhan 430064, China
Huang K: School of Mechanical Engineering & Electrical Engineering, University of Electronic Science and Technology of China, Chengdu 611731, China
Wang C: Science and Technology on Thermal Energy and Power Laboratory, Wuhan 430064, China; Wuhan Second Ship Design and Research Institute, Wuhan 430064, China
Liu Y: School of Mechanical Engineering & Electrical Engineering, University of Electronic Science and Technology of China, Chengdu 611731, China
Ke Z: Science and Technology on Thermal Energy and Power Laboratory, Wuhan 430064, China; Wuhan Second Ship Design and Research Institute, Wuhan 430064, China
Shen Q: School of Mechanical Engineering & Electrical Engineering, University of Electronic Science and Technology of China, Chengdu 611731, China
Qiu Z: Science and Technology on Thermal Energy and Power Laboratory, Wuhan 430064, China; Wuhan Second Ship Design and Research Institute, Wuhan 430064, China
Journal Name
Processes
Volume
11
Issue
2
First Page
334
Year
2023
Publication Date
2023-01-19
ISSN
2227-9717
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Original Submission
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PII: pr11020334, Publication Type: Journal Article
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LAPSE:2023.11236
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https://doi.org/10.3390/pr11020334
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Feb 27, 2023
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