Autonomous path planning strategy for water-air amphibious vehicle based on improved A* algorithm

Abstract

In order to solve the problem of autonomous path planning for water-air amphibious unmanned aerial vehicle (UAV), a path planning method combining search strategy and improved A* algorithm has been proposed. In view of factors that affect the performance of amphibious vehicle, the cost function containing various heuristic information has been redefined. The classical A* algorithm has been improved and optimized by changing the corresponding cost weights to adjust the function of heuristic information in path planning. At the same time, the judgment of whether there are obstacles between adjacent nodes is added in the traversal process of the algorithm. The simulation result shows that with different cost weights, appropriate amphibious route can be generated through our improved algorithm. Under different constraints, the three-dimensional (3D) route can meet the needs of unmanned water-air amphibious vehicle.