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The efficiency and optimality criterion depend on the environment and planning method adopted. In this paper, a general fast path planning framework is proposed for unmanned aerial vehicles navigation. Standard A* search is performed online on the roadmap, which consists of path segments that are pre\u2010computed offline with the aid of a multi\u2010resolution grid and terminate at somewhere along the boundary between adjacent cells. Fast marching method (FMM) was employed for two aspects of the roadmap pre\u2010computation: the location of segment termination points is determined by FMM propagation from the center of a given cell at the highest resolution grid, and the actual segments are computed using FMM between all pairs of nodes belonging to a given cell at all resolutions. Environment dynamics are taken into account by replanning from scratch after modifying the costs associated with the path segments that intersect \u2018threat\u2019 or \u2018no\u2010fly\u2019 zones. The altitude along the planned path is determined in a post\u2010processing step by inspecting the elevation profile along the path and using Sparse A*searching method. The experimental results show that planning speed can be improved significantly with the proposed method, especially, fast online path planning can be achieved to adapt to environmental changes. Copyright \u00a9 2014 John Wiley &amp; Sons, Ltd.<\/jats:p>","DOI":"10.1002\/cpe.3291","type":"journal-article","created":{"date-parts":[[2014,5,30]],"date-time":"2014-05-30T03:12:39Z","timestamp":1401419559000},"page":"3446-3460","source":"Crossref","is-referenced-by-count":9,"title":["A fast path planning approach for unmanned aerial vehicles"],"prefix":"10.1002","volume":"27","author":[{"given":"Shidong","family":"Li","sequence":"first","affiliation":[{"name":"Hubei University for Nationalities Enshi 445000 China"}]},{"given":"Huihua","family":"Zhou","sequence":"additional","affiliation":[{"name":"Hubei University for Nationalities Enshi 445000 China"}]},{"given":"Jia","family":"Hu","sequence":"additional","affiliation":[{"name":"Department of Mathematics and Computer Science Liverpool Hope University Liverpool L16 9JD UK"}]},{"given":"Qing","family":"Ai","sequence":"additional","affiliation":[{"name":"Hubei University for Nationalities Enshi 445000 China"}]},{"given":"Chao","family":"Cai","sequence":"additional","affiliation":[{"name":"State Key Laboratory for Multispectral Information Processing Technologies School of Automation, Huazhong University of Science &amp; Technology"}]}],"member":"311","published-online":{"date-parts":[[2014,5,29]]},"reference":[{"key":"e_1_2_8_2_1","first-page":"6103","volume-title":"AIAA Guidance, Navigation, and Control Conference and Exhibit","author":"Jayesh N","year":"2006"},{"key":"e_1_2_8_3_1","first-page":"1","volume-title":"Principle of Robot Motion Theory, Algorithms, and Implementation","author":"Choset H","year":"2006"},{"key":"e_1_2_8_4_1","unstructured":"OmarR GuDW.Visibility line based methods for UAV path planning.ICROS\u2010SICE International Joint Conference 2009 pp. 3176\u20103181 2009."},{"key":"e_1_2_8_5_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2007.01.009"},{"key":"e_1_2_8_6_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.ast.2011.02.006"},{"key":"e_1_2_8_7_1","doi-asserted-by":"crossref","unstructured":"LiG YamashitaA AsamaH TamuraY.An efficient improved artificial potential field based regression search method for robot path planning.2012 International Conference on Mechatronics and Automation (ICMA) IEEE pp.1227\u20101232 2012.","DOI":"10.1109\/ICMA.2012.6283526"},{"key":"e_1_2_8_8_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2005.11.004"},{"key":"e_1_2_8_9_1","doi-asserted-by":"crossref","unstructured":"ParagiosNK DericheR.A PDE\u2010based level\u2010set approach for detection and tracking of moving objects.Sixth International Conference on Computer Vision.pp. 1139\u20101145 1998.","DOI":"10.1109\/ICCV.1998.710859"},{"key":"e_1_2_8_10_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2007.895057"},{"key":"e_1_2_8_11_1","doi-asserted-by":"crossref","unstructured":"ShidongL MingyueD ChaoC.Path planning using FMM with direction and curvature constrained.Proc. 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