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Mathematical Problems in Engineering
Volume 2014, Article ID 597092, 12 pages
Research Article

Efficient UAV Path Planning with Multiconstraints in a 3D Large Battlefield Environment

State Key Laboratory of Information Engineering in Surveying, Mapping and Remote Sensing, Wuhan University, 129 Luoyu Road, Wuhan 430079, China

Received 12 October 2013; Revised 6 January 2014; Accepted 6 January 2014; Published 26 February 2014

Academic Editor: Xinjie Zhang

Copyright © 2014 Weiwei Zhan et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This study introduces an improved algorithm for the real-time path planning of Unmanned Air Vehicles (UAVs) in a 3D large-scale battlefield environment to solve the problem that UAVs require high survival rates and low fuel consumption. The algorithm is able to find the optimal path between two waypoints in the target space and comprehensively takes factors such as altitude, detection probability, and path length into account. It considers the maneuverability constraints of the UAV, including the safety altitude, climb rate, and turning radius, to obtain the final flyable path. Finally, the authors test the algorithm in an approximately 2,500,000 square meter area containing radars, no-fly zones, and extreme weather conditions to measure its feasibility, stability, and efficiency.