Multi-objective path planning method of cross-sea drone logistics based on A* algorithm

Abstract

Due to the different operating environments of logistics drones, there are differences in path planning models and methods. To solve the problem of path planning for cross-sea UAV logistics, an improved grid airspace environment construction method and a path planning model for cross-sea logistics UAV are proposed. Flight distance cost, population threat cost, obstacle risk cost, and height change cost are considered in the objective function, and the performance of the logistics drone is considered as the constraints of the path planning problem. A* algorithm with an improved heuristic function is used to solve this problem. The success rate of solving in a specific environment is close to 100%. Compared with the Dijkstra path planning method, the calculation time is shortened by 26.08% on average. The model considered various goals of UAV cross-sea logistics and the algorithm can solve the question faster, which has practical significance.