Joint route planning algorithm for RUAV when goal is vague

The route planning of RUAV (Reconnaissance Unmanned Aerial Vehicle) in unknown environment is a difficult problem, especially when goal is vague. In order to solve the problem, paper proposes the Regional Heuristic D*(RHD*) algorithm. This method divides the whole environment into a series of quasi-goal regions, and then calls RHD* algorithm to get the reference route. When the RUAV flying along with the reference route planed, it keeps invoking the AHP (Analytic Hierarchy Process) to judge if an object can be considered as the goal, until it finds out the goal and completes the route planning. The mentioned method that combines AHP with RHD*algorithm, is demonstrated effectively by simulation results.