Distributed Path Planning for UAVs Based on $\mathbf{A}^{\ast }$ Algorithm of Dubins ath

This paper proposes a path planning method for unmanned aerial vehicles(UAV). Aiming at the problem that the traditional grid-based
$\mathrm{A}^{\ast}$
search algorithm does not consider flight performance constraints, which cause the path discontinuity. This paper adopts the Dubins curve to find effective nodes, and combines the idea of
$\mathrm{A}^{\ast}$
heuristic search to generate obstacle avoidance paths composed of Dubins curves for UAVs. This paper then combines the proposed algorithm with leader-follower control algorithm and applies the algorithm to multiple UAVs formation. The simulation and experimental results show that the method is feasible. Results shows it takes advantage over the commonly used
$\mathrm{A}^{\ast}$
algorithm applied on a grid map in aspects of the optimality and efficiency, and it can achieve obstacle avoidance in formation flying.