Trajectory planning of Unmanned Aerial Vehicle based on A* algorithm

摘要

The trajectory planning of Unmanned Aerial Vehicle (UAV) and Aerial Robots generally refers to a series of optimization problems. This paper presents a method of trajectory planning and design for UAV based on the A* algorithm. Using grids to process the trajectory path planning of UAV under the environment with presence of obstacles, and then search the shortest path from the initial point to the target point based on rasterized environment using A* algorithm. The simulation of trajectory planning is implemented in the Microsoft Visual C++ 6.0 developing environment. Through the simulation of trajectory planning, it can be proved that UAV can find the shortest path from the initial point to the target point based on A* algorithm.