Research on path planning of UAV based on Hybrid A* algorithm

UAVs are widely used in fields such as industrial inspection, disaster relief and package transportation. Therefore, it has great significance to realize safe and smooth path planning in an unknown dynamic environment. For this reason, this paper designs a path planning system suitable for unknown environment based on the hybrid A
^*
algorithm by the following three modules, the planning module, the navigation module and the control module to achieve the above-mentioned functions. We built a drone model and experimental environment in the gazebo simulator, verified the performance of the system with smoothness as an indicator.