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.