This article is concerned with the UAV path replanning problem to be solved by using a novel approach based on the hybrid of virtual force and A* search algorithm (HVFA). The formulation of the UAV path re-planning is presented, and the hybrid system model of virtual force (VF) is given. The scheme of path re-planning is designed and the corresponding computational complexity is analyzed quantitatively. Simulation results prove the feasibility and usefulness of using HVFA for UAV path re-planning. Performance comparisons between the HVFA method and the fuzzy virtual force (FVF) method demonstrate that the proposed approach is fast enough to meet the real-time requirements of the online path planning problems.

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