Path Planning for Unmanned Aerial Vehicle: A-Star-Guided Potential Field Method

摘要

The utilization of Unmanned Aerial Vehicles (UAVs) in missions such as reconnaissance and surveillance has grown rapidly, underscoring the need for efficient path planning algorithms that ensure both optimality and collision avoidance. The A-star algorithm is widely used for global path planning due to its ability to generate optimal routes; however, its high computational cost makes it unsuitable for real-time applications, particularly in unknown or dynamic environments. For local path planning, the Artificial Potential Field (APF) algorithm enables real-time navigation by attracting the UAV toward the target while repelling it from obstacles. Despite its efficiency, APF suffers from local minima and limited performance in dynamic settings. To address these challenges, this paper proposes the A-star-Guided Potential Field (AGPF) algorithm, which integrates the strengths of A-star and APF to achieve robust performance in both global and local path planning. The AGPF algorithm was validated through simulations conducted in the Robot Operating System (ROS) environment. Simulation results demonstrate that AGPF produces smoother and more optimal paths than A-star, while avoiding the local minima issues inherent in APF. Furthermore, AGPF effectively handles moving and previously unknown obstacles by generating real-time avoidance trajectories, demonstrating strong adaptability in dynamic and uncertain environments.