Path planning for UAV tracking target based on improved A-star algorithm

Regarding the problem of path planning for UAV tracking target, the traditional method is to use a yaw control law to control the UAV to track the known targets. The path obtained by this method has the disadvantages that the time taken to reach the desired target is long and the tracking stability...

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Bibliographic Details
Published in2019 1st International Conference on Industrial Artificial Intelligence (IAI) pp. 1 - 6
Main Authors Cai, Yingzhe, Xi, Qingbiao, Xing, Xiaojun, Gui, Haoran, Liu, Qi
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.07.2019
Subjects
Cameras
Mathematical model
Path planning
Sensors
Target searching
Target tracking
Task analysis
UAV
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Summary:Regarding the problem of path planning for UAV tracking target, the traditional method is to use a yaw control law to control the UAV to track the known targets. The path obtained by this method has the disadvantages that the time taken to reach the desired target is long and the tracking stability is poor. In order to make up for these shortcomings, this paper proposes a path planning strategy based on improved A-star algorithm. Through experimental simulation, the algorithm proposed in this paper can converge to the desired distance faster than the traditional algorithm, and the oscillation is smaller and the tracking effect is better.
DOI:10.1109/ICIAI.2019.8850744