Path planning for UAV tracking target based on improved A-star algorithm

被引：16

作者：

Cai, Yingzhe ^{[1
]}

Xi, Qingbiao ^{[1
]}

Xing, Xiaojun ^{[1
]}

Gui, Haoran ^{[1
]}

Liu, Qi ^{[1
]}

机构：

[1] Northwestern Polytech Univ, Sch Automat, Xian, Peoples R China

来源：

2019 1ST INTERNATIONAL CONFERENCE ON INDUSTRIAL ARTIFICIAL INTELLIGENCE (IAI 2019) | 2019年

关键词：

UAV; Target searching; Target tracking; Path planning;

D O I：

10.1109/iciai.2019.8850744

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

Regarding the problem of path planning for UAV tracking target, the traditional method is to use a yaw control law to control the UAV to track the known targets. The path obtained by this method has the disadvantages that the time taken to reach the desired target is long and the tracking stability is poor. In order to make up for these shortcomings, this paper proposes a path planning strategy based on improved A-star algorithm. Through experimental simulation, the algorithm proposed in this paper can converge to the desired distance faster than the traditional algorithm, and the oscillation is smaller and the tracking effect is better.

引用

页数：6

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