3D route planning of UAVs based on weather threat field

To tackle the ambiguity and high degree of uncertainty of the weather threats in UAV route planning,a method was proposed that uses the improved BP neural network to assess the weather element,and assesses the weather threats within the area to build the weather threat field.The improved spares A* algorithm was proposed to accomplish 3D route planning based on the integrated weather threat field,and the adaptive operation was used in the improved spares A* algorithm to get a higher searching speed and efficiency.The simulation results show that the assessing method can assess the degree of weather threat accurately,and that the improved spares A* algorithm can search the best route accurately and fast in the 3D weather threat field.This method is of some practical value.