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This paper presents the flight penetration path planning algorithm in a complex environment with Bogie or Bandit (BB) threats for stealth unmanned aerial vehicle (UAV). The emergence of rigorous air defense radar net necessitates efficient flight path planning and replanning for stealth UAV concerning survivability and penetration ability. We propose the improved A-Star algorithm based on the multiple step search approach to deal with this uprising problem. The objective is to achieve rapid penetration path planning for stealth UAV in a complex environment. Firstly, the combination of single-base radar, dual-base radar, and BB threats is adopted to different threat scenarios which are closer to the real combat environment. Besides, the multistep search strategy, the prediction technique, and path planning algorithm are developed for stealth UAV to deal with BB threats and achieve the penetration path replanning in complex scenarios. Moreover, the attitude angle information is integrated into the flight path which can meet real flight requirements for stealth UAV. The theoretical analysis and numerical results prove the validity of our method.

Rapid Penetration Path Planning Method for Stealth UAV in Complex Environment with BB Threats