Research on 3D Path Planning of Quadrotor Based on Improved A* Algorithm

Considering the complexity of three-dimensional environment and flexibility quadrotor aircraft, using traditional A* algorithm for global path planning has disadvantages less search direction, more expanded nodes, a longer path. Therefore, an improved is proposed, which from two aspects. Firstly, two-layer extended neighborhood strategy can increase direction make better use aircraft. Secondly, heuristic function to value closer actual distance, reduce expansion nodes optimize Finally, simulation carried out results show that planned by shorter are fewer, guide reach destination better.