Simulation and experimental approach for optimal path planning of UAV using A* and MEA* algorithms

Abstract

Over the past decades, Unmanned Aerial Vehicle (UAV) have been effectively adapted to perform disaster missions, agricultural and various societal applications. The path planning plays a crucial role in bringing autonomy to the UAVs to attain the designated tasks by avoiding collision in the obstacles prone regions. Optimal path planning of UAV is considered to be a challenging issue in real time navigation during obstacle prone environments. The present article focused on implementing a well-known A* and variant of A* namely MEA* algorithm to determine an optimal path in the varied obstacle regions for the UAV applications which is novel. Simulation is performed to investigate the performance of each algorithm with respect to comparing their execution time, total distance travelled and number of turns made to reach the source to target. Further, experimental flight trails are made to examine the performance of these algorithms using a UAV. The desired position, velocity and yaw of UAV is obtained based on the waypoints of optimal path planned data and effective navigation is performed. The simulation and experimental results are compared for confirming the effectiveness of these algorithms.

Keywords

• optimal path planning
• a* algorithm
• mea* algorithm
• simulation
• obstacle avoidance
• unmanned aerial vehicle