Shi-Ming Liu

Hierarchical path planning for low-altitude logistics UAVs in complex urban environments: an enhanced weighted A* approach with geometric smoothing

A hierarchical “Search-and-Smooth” framework comprising an Enhanced Weighted A algorithm whose edge-cost function directly encodes all three objectives—path length, turning cost, and spatial risk — and a greedy Line-of-Sight post-processor that removes residual grid-discretization artifacts is proposed.