Wind-Aware Smooth Path Planning for UAVs in Urban Environments Based on Improved A* Algorithm

The widespread application of Unmanned Aerial Vehicles (UAVs) in urban environments faces significant challenges due to complex micro-meteorological conditions, particularly wind fields caused by high-rise buildings. Traditional path planning algorithms often ignore these dynamic wind effects, leading to increased energy consumption and potential safety hazards. In this paper, we propose a wind-aware smooth path planning method for UAVs in complex urban environments. First, a high-fidelity 3D urban environment model is constructed, and Computational Fluid Dynamics (CFD) simulations are performed using COMSOL to extract accurate wind field data. Second, an improved A* algorithm is proposed by integrating a novel heuristic function that accounts for wind resistance and wind direction penalties, enabling the UAV to exploit tailwinds and avoid strong headwinds. Finally, a B-spline curve smoothing technique is applied to the discrete waypoints to generate a kinematically feasible and collision-free trajectory. Simulation results demonstrate that the proposed method effectively reduces wind-induced flight costs while ensuring path smoothness and safety.