Evaluation of an A*-EC Hybrid Path Planning Method for UAVs Using Real-Time Hardware-in-the-Loop Simulation

Katsushi Mitsutake(1*), Shin-Ichiro Higashino(2)

(1) Department of Aeronautics and Astronautics, Kyushu University, Japan
(2) Department of Aeronautics and Astronautics, Kyushu University, Japan
(*) Corresponding author

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This paper presents the evaluation results of the A*-EC hybrid path planning method for UAVs using real-time hardware-in-the-loop simulation. The A*-EC hybrid method has been developed in our previous work. It has the capability to optimize a waypoint passing order quickly while avoiding obstacles. In this evaluation, real-time hardware-in-the-loop simulator for the UAV which has been developed in Kyushu University is developed. The mission of the UAV is to fly over pre-determined 40 waypoints while avoiding terrain and moving heavy rain areas which was recorded in a certain part of Japan in 2008.The simulation takes about 3.5 hours and flight path is supposed to be generated depending on the weather information update interval. The simulation was repeated for 5 times, and the results show an average path planning time is about 12 seconds using a path planning PC with Core-i7 CPU. It is short enough to be used for real situations.
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Unmanned Aerial Vehicles; UAVs; Path Planning; Obstacle Avoidance

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