Abstract
An improved A* and fuzzy dynamic window approach (DWA) based trajectory planning algorithm is proposed in this paper to realize dynamic trajectory planning for an unmanned aerial vehicle (UAV). Firstly, a 3D diagonal distance is designed as the heuristic function to improve the calculation efficiency of A*. Meanwhile, a path smoothness optimization method is introduced to extract key points of the path planned by improved A*. Then, a DWA is extended to 3D space for the UAV’s trajectory planning under dynamic obstacles. Its evaluation function is improved by adding a novel evaluation item for different kinds of dynamic obstacles, and a fuzzy logic is adopted to update the function’s weight coefficients dynamically. In addition, the attitude angles adjusting functions are proposed to eliminate the initial angular deviations between the UAV and the global optimal path. Finally, the proposed algorithm can not only realize dynamic obstacle avoidance effectively, but also shorten and smoothen the trajectory under the global optimal constraints.
This work was partly supported by National Natural Science Foundation of China (62073212).
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Wang, S., Li, B., Temuer, C. (2023). Improved A* and Fuzzy Dynamic Window Based Dynamic Trajectory Planning for an UAV. In: Yan, L., Duan, H., Deng, Y. (eds) Advances in Guidance, Navigation and Control. ICGNC 2022. Lecture Notes in Electrical Engineering, vol 845. Springer, Singapore. https://doi.org/10.1007/978-981-19-6613-2_192
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DOI: https://doi.org/10.1007/978-981-19-6613-2_192
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