Trajectory Planning Technology of Fixed-Wing UAV Based on Complex Constraint A* Algorithm

Fixed-wing UAV has been widely used in civil, industrial and military fields. In actual specific scenes, there are often many complex constraints, besides the most basic kinematic constraints, there are also task constraints, such as the need to continuously irradiate suspicious targets on the way to the end area as much as possible. However, according to the pre-investigation, most of the related task constraints consider the cooperation between airspace and time domain, and seldom consider the task constraints with non-cooperative targets in trajectory planning, and the solved trajectory is difficult to execute directly. To meet this requirement, a trajectory planning algorithm under complex constraint A* is proposed. The trajectory planning satisfies the constraints of minimum turning radius starting point and ending point. Then the trajectory is solved by using bounded search method within the set boundary. According to the analysis of simulation results, the trajectory solved by the proposed algorithm meets the requirements of UAV steering motion, and maximizes its task completion within bounded constraints. Compared with the traditional bounded suboptimal algorithm, the task completion is improved by 48%.