关键词: 航迹规划, A*算法, 蛇形割圆法, 感兴趣区域, 加权评估法

Abstract:

In order to solve the problem that the dispatching quantity of UAV and the shortest path of space flight path planning are restricted. A track algorithm for optimizing A* is proposed. The path planning of the circular inspection area is carried out by the designed serpentine cutting method. The better search direction is selected by extracting the region of interest, so as to improve the search efficiency of relief UAV. The weighted assessment method is used to optimize the natural threat weight coefficient and redefine the track estimation function. The proposed method is tested in the application to the actual problem of disaster inspection and life investigation for performance detection. The simulation results show that the proposed algorithm can reasonably allocate the number of UAV and quickly plan the optimal flight path, and realize the inspection coverage rate of 88.96 percent.

Key words: path planning, A* algorithm, serpentine circular cut, region of interest, weighted assessment , method