دورية أكاديمية
The Improved A* Algorithm for Quadrotor UAVs under Forest Obstacle Avoidance Path Planning
| العنوان: | The Improved A* Algorithm for Quadrotor UAVs under Forest Obstacle Avoidance Path Planning |
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| المؤلفون: | Jiale Li, Feng Kang, Chongchong Chen, Siyuan Tong, Yalan Jia, Chenxi Zhang, Yaxiong Wang |
| المصدر: | Applied Sciences, Vol 13, Iss 7, p 4290 (2023) |
| بيانات النشر: | MDPI AG, 2023. |
| سنة النشر: | 2023 |
| المجموعة: | LCC:Technology LCC:Engineering (General). Civil engineering (General) LCC:Biology (General) LCC:Physics LCC:Chemistry |
| مصطلحات موضوعية: | UAV, improved A* algorithm, path planning, remove redundant turning points, path smoothing, Technology, Engineering (General). Civil engineering (General), TA1-2040, Biology (General), QH301-705.5, Physics, QC1-999, Chemistry, QD1-999 |
| الوصف: | In order to improve the obstacle avoidance and endurance capability of quadrotor UAVs performing tasks such as forest inspection and rescue search, this paper proposes improvements to address the problems of too many traversed nodes, too many redundant corners, too-large turning angles and unsmooth generated paths in the traditional A* algorithm in path planning. The traditional A* algorithm is improved by using a segmented evaluation function with dynamic heuristic and weighting processing, a steering cost heuristic function based on heading angle deviation control, a redundant turning points removal strategy, and a quasi-uniform cubic b-spline. Through the test comparison of different complexity map scenarios, it is found that the improved A* algorithm reduces the number of traversed nodes by 64.87% on average, the total turning angle by 54.53% on average, the path search time by 49.64% on average, and the path length by 12.52% on average compared to the traditional A* algorithm, and there is no obvious turning point in the path. The real-world applicability of the improved A* algorithm is confirmed by comparing the effect of different algorithms on obstacle avoidance in a map of a real plantation forest environment. |
| نوع الوثيقة: | article |
| وصف الملف: | electronic resource |
| اللغة: | English |
| تدمد: | 2076-3417 |
| Relation: | https://www.mdpi.com/2076-3417/13/7/4290; https://doaj.org/toc/2076-3417 |
| DOI: | 10.3390/app13074290 |
| URL الوصول: | https://doaj.org/article/e0003ddc5bd34985baa39baed7a679b5 |
| رقم الأكسشن: | edsdoj.0003ddc5bd34985baa39baed7a679b5 |
| قاعدة البيانات: | Directory of Open Access Journals |
Full Text Finder | تدمد: | 20763417 |
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| DOI: | 10.3390/app13074290 |