This article mainly for unmanned aerial vehicle (UAV) route planning problem

based on A-Star heuristic search algorithm

an optimized by binary heap new path planning algorithm.In this article

compared with the previous route planning algorithm

we rethink the threat model

and according to the aircrafts own performance limit

redesigned the cost function and heuristic function.And A-Star algorithm is optimized

in the final and the final result for the smooth processing.The optimized algorithm is compared with the original algorithm greatly improve the search efficiency

improves the search speed

reduce the memory consumption

available and more realistic significance.Experimental results also show that the algorithm can make the aircraft in the allowed scope of the aircraft in the performance

bypass the threatened area

quick to find the best route the destination point.