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Abstract²In order to improve the efficiency of path planning >@SURSRVHGDVSDUVH$ DOJRULWKPIRUWZRGLPHQVLRQDO

for Unmanned Aerial Vehicles (UAV), this paper proposed a SDWK SODQQLQJ >@ SURSRVHG D WKUHHGLPHQVLRQDO SDWK
method combined of GA and A* algorithm for three-dimensional SODQQLQJEDVHGRQWKHVSDUVH$ DOJRULWKPZLWKWKHPD[LPXP
path planning, which is divided into global path planning and real- WXUQLQJDQJOHDQGWKHPD[LPXPFOLPEGLYHDQJOHFRQVWUDLQWV
time path re-planning. Global path planning focus on safety and
optimality, and provides an optimal path for the UAV that meets
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the constraints by using the real number gene coding method. SURSRVHGDQLPSURYHG$ DOJRULWKPWKDWFRPELQHGZLWKWKH
Real-time path re-planning focuses on emergency threats and VLPSOLILHG NLQHPDWLFV RI WKH DLUFUDIW DQG DSSOLHG WKLV
needs to ensure real-time performance. It is implemented by DOJRULWKPWR VROYH WKH WKUHDW DYRLGDQFHSUREOHPRI 8$9LQ
combining the two-dimensional A* algorithm and height planning XQNQRZQ GDQJHURXV HQYLURQPHQWV >@ SURSRVHG D WKUHH
that improves the searching efficiency compared to traditional GLPHQVLRQDOSDWKSODQQLQJPHWKRGEDVHGRQIHDVLEOHSULRULW\
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that the proposed method in this paper can effectively reduce the GRZQWKHVHDUFKVSDFHDQGLPSURYHWKHVHDUFKHIILFLHQF\>@
search space and improve the search efficiency. SURSRVHGDWKUHHGLPHQVLRQDOIDVWSDWKSODQQLQJPHWKRGEDVHG
Keywords—UAV, path planning, GA, A* algorithm, real-time RQWKHFRPELQDWLRQRIWZRGLPHQVLRQDOVSDUVH$ DOJRULWKP
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