Electronics Optics & Control, Volume. 20, Issue 7, 1(2013)
An Improved D*Lite Algorithm Based 3D Path Planning for UAVs When Target is Moving
With respect to the problem of 3D path planning of Unmanned Aerial Vehicles (UAV) under uncertain environments when the target is movinga method of fast 3D path planning was designed based on the improved D*Lite algorithm.By use of the improved cost evaluating function and the realtime information of unanticipated threats and moving targetsand based on the constraints together with the improved search algorithma method of 3D path planning for UAVs was given.The simulation results demonstrated that the algorithm can not only meet the realtime path planning demandsavoid the unanticipated threats and attack the moving targetsbut also reduce the search spaceimprove the search efficiency and optimizing capabilitywhich is a good method for path planning of UAV under uncertain environments.
Get Citation
Copy Citation Text
CHEN Xia, LIU Dong. An Improved D*Lite Algorithm Based 3D Path Planning for UAVs When Target is Moving[J]. Electronics Optics & Control, 2013, 20(7): 1
Category:
Received: Sep. 1, 2011
Accepted: --
Published Online: Jul. 9, 2013
The Author Email: