Route planning for unmanned aerial vehicle based on threat probability and mission time restriction

In this paper, a route planning approach for unmanned aerial vehicle (UAV) with mission time restriction is investigated. According to the types and the characteristic of threats in the battlefield environment, we analyses the relation between threat extent and threat probability, build the model of threats, improve A* algorithm through design the cost valuation function of A* algorithm and use the variable step length strategy, it improve the search efficiency, when the route planned in safety area can't satisfy UAV mission time require, the method that suitable adding threat probability to satisfy mission time restriction was adopted. The simulation results show that the approach was feasible, effective and can plan route that satisfy the mission time requirements of UAV.