| Summary: | In recent years, the problem of route planning in complex battlefield environments has attracted significant attention. With the increasingly worrying international situation, safety and flyability in a continuously changing threat environment are critical factors in route planning research. Thus, this paper proposes an improved Lazy Theta* algorithm that adapts to a complex battlefield environment and finds the optimal route. Specifically, given the low computational efficiency and data redundancy of the existing environmental threat modeling, the developed scheme first employs an octree grid to divide the environment into a grid. Furthermore, based on a real environmental threat model and flight constraints, we design a Lazy Theta* algorithm based on octree grid points, which shortens the planning path and reduces the path cost. Finally, this paper proposes an equally spaced B-spline to smooth the route and improve its smoothness and flyability. Several simulated experiments verify that the smoothed route improves safety and flight ability while reducing the route’s distance. Overall, the simulation results prove that the proposed method significantly improves the planning efficiency and flyability compared with traditional methods.
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