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According to less attention has been paid to the problem of path planning in partially know environment. An improved Focused D* algorithm is proposed for solving the problem that three-dimensional path planning for Unmanned Combat Aerial Vehicle (UCAV) in dynamic and uncertain environments with both pop-up and unknown threat. First, a grid model of configuration space were constructed which combination of terrain and threat information. Then, the approach could update the environment information instantly when a pop-up threat turn up. Depending on the environment information, the improved Focused D* algorithm is capable of collision avoidance in three-dimensional, and re-planning on line to obtain a new global optimal trajectories. A final set of computer simulations is carried out to demonstrate the effectiveness of the dynamic motion planning algorithm based on the improved Focused D* algorithm which rapid construction of feasible, yet agile, trajectories.