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Fast on-ship route planning using improved sparse A-star algorithm for UAVs

This paper presented improved Sparse A-Star Search (SAS) algorithm to pursue a fast route planner for Unmanned Aerial Vehicles (UAVs) on-ship applications. Our approach can quickly produce 3-D trajectories composed by a set of successive navigation points from certain known initial locations to predetermined target locations. The result routes are not only ensuring collision avoidance with the environmental obstacles, but also satisfying specific routes constraints and objectives. The experiment results demonstrated the feasibility of the method, which makes our route planner be more useful in real systems.