No abstract

We will present a simple and efficient algorithm for solving the path planning problem for civil UAV operating in a dynamic or incomplete environment. This algorithm searches for a continuous waypoints sequence starting from the initial configuration, visiting all the desired locations and reaching the final position. We will present our proposed algorithm on two steps: The first produces a sorted location set. The second step generates an optimal path for the overall mission. The same algorithm constructs the initial path or re-plans a new one when changes occur to the configuration space. To prove the effectiveness of our proposed algorithm, we will provide computer simulations. A comparison of many results will show that this algorithm yields good experience performance over a wide variety of examples.