Computer Engineering and Applications ›› 2021, Vol. 57 ›› Issue (6): 232-238.DOI: 10.3778/j.issn.1002-8331.1912-0304

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Path Planning Algorithm of Disaster Relief UAV Based on Optimized A

HAN Xiaowei, HAN Zhen, YUE Gaofeng, CUI Jianjiang   

  1. 1.Institute of Science and Technology Innovation, Shenyang University, Shenyang 110044, China
    2.College of Information Engineering, Shenyang University, Shenyang 110044, China
    3.College of Information Science and Engineering, Northeastern University, Shenyang 110004, China
  • Online:2021-03-15 Published:2021-03-12



  1. 1.沈阳大学 科技创新研究院,沈阳 110044
    2.沈阳大学 信息工程学院,沈阳 110044
    3.东北大学 信息科学与工程学院,沈阳 110004


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



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