This paper introduces improved weighted A* (WA*DH), an advanced version of the weighted A* (WA*). To increase the performance of WA*, we suggest a new parameter, the heuristic angle, which is defined as the angle between the direction of an nth node to the target and the direction of the heading from the (n−1)th node to the nth node on the path. The process of WA*DH involves searching nodes that degrade the optimality of the generated path using the derivative of the heuristic angle, and then searching for escape nodes that avoid an obstacle. Finally, local re-planning of the path is performed using the nodes obtained in the aforementioned two steps. We can verify that the cost of WA*DH is lower than WA*, although the elapsed time is not shorter than WA* because of the additional procedures.

中文翻译：

---

启发式角度导数的无人机路径规划

本文介绍了改进的加权 A* (WA*DH)，这是加权 A* (WA*) 的高级版本。为了提高 WA* 的性能，我们建议了一个新参数，启发式角度，它被定义为第 n 个节点到目标的方向与从第 (n-1) 个节点到目标的航向方向之间的夹角。路径上的第 n 个节点。WA*DH 的过程涉及使用启发式角度的导数搜索降低生成路径最优性的节点，然后搜索避开障碍物的逃生节点。最后，使用上述两个步骤中获得的节点执行路径的局部重新规划。我们可以验证 WA*DH 的成本低于 WA*，尽管由于附加程序的原因，经过的时间并不短于 WA*。