A hybrid approach of virtual force and A∗ search algorithm for UAV path re-planning

This article is concerned with the UAV path re-planning problem to be solved by using a novel approach based on the hybrid of virtual force and A* search algorithm (HVFA). The formulation of the UAV path re-planning is presented, and the hybrid system model of virtual force (VF) is given. The scheme...

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Bibliographic Details
Main Authors: Zhuoning Dong, Zongji Chen, Rui Zhou, Rulin Zhang
Format: Conference Proceeding
Language:English
Subjects:
A ∗ search algorithm
Algorithm design and analysis
Computational complexity
Force
Path planning
path re-planning
Planning
Real time systems
Simulation
unmanned aerial vehicle
virtual force
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Summary:This article is concerned with the UAV path re-planning problem to be solved by using a novel approach based on the hybrid of virtual force and A* search algorithm (HVFA). The formulation of the UAV path re-planning is presented, and the hybrid system model of virtual force (VF) is given. The scheme of path re-planning is designed and the corresponding computational complexity is analyzed quantitatively. Simulation results prove the feasibility and usefulness of using HVFA for UAV path re-planning. Performance comparisons between the HVFA method and the fuzzy virtual force (FVF) method demonstrate that the proposed approach is fast enough to meet the real-time requirements of the online path planning problems.
ISSN:2156-2318
2158-2297
DOI:10.1109/ICIEA.2011.5975758