Research on 3D Path Planning of Quadrotor Based on Improved A* Algorithm

Abstract

Considering the complexity of the three-dimensional environment and the flexibility of the quadrotor aircraft, using the traditional A* algorithm for global path planning has the disadvantages of less search direction, more expanded nodes, and a longer planning path. Therefore, an improved A* algorithm is proposed, which is improved from two aspects. Firstly, a two-layer extended neighborhood strategy is proposed, which can increase the search direction and make better use of the flexibility of the aircraft. Secondly, the heuristic function is improved to make the heuristic function value closer to the actual planning path distance, which can reduce the expansion nodes and optimize the planning path. Finally, the path planning simulation of the improved A* algorithm is carried out and the results show that the path planned by the improved algorithm is shorter and the expanded nodes are fewer, which can guide the quadrotor to reach the destination better.