Abstract
This paper presents a 3D safe path planning solution for UAS in cluttered environments. 3D any-angle path planning algorithms are used by including non-uniform costs related to distance to the closest obstacles. Both Theta* and Lazy Theta* algorithms are extended toward non-uniform costs by fostering safety and smoothness. Our generalized algorithms consider the cost of all the nodes along the line of sight between an initial and final node. Tests in a realistic environment are performed to evaluate the generalized Theta* and Lazy Theta* algorithms with respect to A* algorithm considering the nonuniform costs. The results show advantages of the generalized Lazy Theta* algorithm related to safety, length and smoothness of path.
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