Abstract

In order to solve problem of Unmanned Aerial Vehicle (UAV) path planning under pop-up threat, a hierarchical path planning method of UAV is proposed in this paper. Firstly, hierarchical path planning strategy is established based on analyzing the requirements of planning time, planning tasks and planning accuracy when UAV proceeding path planning under the different conditions, and the path planning problem can be decomposed into global path planning and local path planning two subproblems by the hierarchical path planning strategy. Then, A* search algorithm is used by the method for global path planning based on the detected battlefield information before UAV takes off, and improved artificial potential field method is adopted for local path planning when UAV detecting pop-up threat. Finally, simulation results show that the method can ensure UAV back in the initial path after avoiding pop-up threat successfully, and compared with only using A* algorithm for path planning, the hierarchical path planning algorithm which adopts A* search algorithm and improved artificial potential field method is more satisfies the actual demand of battlefield, these prove the effectiveness and superiorities of the hierarchical planning method.

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