Please use this identifier to cite or link to this item: https://doi.org/10.1109/IHMSC.2010.165
Title: An improved heuristic algorithm for UAV path planning in 3D environment
Authors: Qi, Z.
Shao, Z.
Ping, Y.S. 
Hiot, L.M.
Leong, Y.K.
Keywords: Algorithm
Heuristic A
Path planning
Unmanned aerial vehicle (UAV)
Virtual terrain
Issue Date: 2010
Source: Qi, Z.,Shao, Z.,Ping, Y.S.,Hiot, L.M.,Leong, Y.K. (2010). An improved heuristic algorithm for UAV path planning in 3D environment. Proceedings - 2010 2nd International Conference on Intelligent Human-Machine Systems and Cybernetics, IHMSC 2010 2 : 258-261. ScholarBank@NUS Repository. https://doi.org/10.1109/IHMSC.2010.165
Abstract: Path planning problem is one of core contents of UAV technology. This paper presents an improved heuristic algorithm to solve 3D path planning problem. In this study the path planning model is built based on digital map firstly, and then the virtual terrain is introduced to eliminate a significant amount of search space, from 3-Dimensions to 2-Dimensions. Subsequently the improved heuristic A* algorithm is applied to generate UAV trajectory. The algorithm is featured with various searching steps and weighting factor for each cost component. The simulation results have been done to validate the effectiveness of this algorithm. © 2010 IEEE.
Source Title: Proceedings - 2010 2nd International Conference on Intelligent Human-Machine Systems and Cybernetics, IHMSC 2010
URI: http://scholarbank.nus.edu.sg/handle/10635/69324
ISBN: 9780769541518
DOI: 10.1109/IHMSC.2010.165
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