The 3D Path Planning Based on A* Algorithm and Artificial Potential Field for the Rotary-Wing Flying Robot

An efficient fusion algorithm for the rotary-wing flying robot is presented for solving path planning problem in the 3D mountain environment. This fusion algorithm combines A*algorithm with artificial potential field method both improved and optimized for 3D environment. Firstly, A*algorithm is adopted to plan the preliminary path in the environmental model established by grid method. This A* algorithm is optimized in the heuristic function according to the 3D environment. Then, we select and save the key nodes in the preliminary path. Finally artificial potential field algorithm is used to do the path smoothing processing on the basis of these key nodes. We carried out the simulation in MATLAB of the proposed algorithm, single A*algorithm and artificial potential field method respectively in the 3D map consisting of random irregular surface and defined peak. The simulation results indicates that the fusion algorithm is feasible in 3D path planning and superior in smoothness performance, which can satisfy the property of real-time tracking for rotary-wing flying robots.