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.

中文翻译：

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具有BB威胁的复杂环境下隐身无人机的快速穿透路径规划方法。

本文提出了在具有Bogie或Bandit（BB）威胁的复杂环境中用于隐形无人机（UAV）的飞行穿透路径规划算法。严格的防空雷达网的出现要求对隐身无人机的生存能力和穿透能力进行有效的飞行路径规划和重新规划。我们提出了一种基于多步搜索方法的改进的A-Star算法来解决这一起义问题。目的是在复杂环境中实现隐身无人机的快速穿透路径规划。首先，将单基地雷达，双基地雷达和BB威胁相结合，用于更接近真实作战环境的不同威胁场景。此外，多步搜索策略，预测技术，针对隐身无人机开发了路径规划算法，以应对BB威胁并实现复杂场景下的穿透路径重新规划。此外，姿态角信息被集成到飞行路径中，可以满足隐形无人机的实际飞行要求。理论分析和数值结果证明了该方法的有效性。