Path planner for UAVs navigation based on A* algorithm incorporating intersection

A combination process of A* algorithm incorporating intersection is utilized to design a path planner for unmanned aerial vehicles (UAVs) autonomous navigation. The evaluation index of candidate path points is introduced in this method. It increases the consistency of the target direction and the search direction, and ensures the path towards the direction of the target point. In order to improve the security of the planned path, a path allocation method is designed. Under the same environment of simulation, the efficiency for the UAV path planning of this method is greater compared with the mixed algorithm of Dijkstra and Dijkstra-PSO.