UAV Path Planning Based on the Combination of A-star Algorithm and RRT-star Algorithm

In order for UAVs to perform tasks safely and efficiently, path planning for UAVs is required. The A-star algorithm can calculate the optimal path, but it needs to rasterize the map in advance and run for a long time. When the map changes, the A-star algorithm cannot quickly obtain a new path. This work proposes a UAV path planning system using the combination of the A-star algorithm and the RRT-star algorithm, which provides the optimal path for the UAV and can generate a temporary path in time when the pre-planned path cannot be used. This scheme can improve the adaptability of UAV in UAM scene.

I. Introduction

Unmanned air vehicles (UAVs) have continued to expand in use in transportation, observation, and military. In the gradually perfected Urban Air Mobility (UAM) concept [1], UAV is one of its important components, which undertakes the responsibilities of cargo and personnel transportation. Therefore, how to plan the flight path to ensure that the UAV can perform the mission safely and effectively becomes a key issue.