Efficient and optimal penetration path planning for stealth unmanned aerial vehicle using minimal radar cross-section tactics and modified A-Star algorithm.Penetration path planning for stealth unmanned aerial vehicles (SUAVs) in the integrated air defense system (IADS) has been a hot research topic in recent years.  Firstly, for the complex terrain and static radar threats, a modified A-Star algorithm containing the bidirectional sector expansion and variable step search strategy is proposed to elude static threats rapidly.  Furthermore, the combinatorial methodology of the minimum RCS tactics and the modified A-Star algorithm is applied to achieve the dynamic path planning for SUAV.  The simulation results indicate that the modified A-Star algorithm and minimal RCS tactics can significantly reduce the probability of radar system, which has better superiority in calculation efficiency, path cost and safety. 
A-Star algorithm
Efficient and optimal penetration path planning for stealth unmanned aerial vehicle using minimal radar cross-section tactics and modified A-Star algorithm.Penetration path planning for stealth unmanned aerial vehicles (SUAVs) in the integrated air defense system (IADS) has been a hot research topic in recent years.  Firstly, for the complex terrain and static radar threats, a modified A-Star algorithm containing the bidirectional sector expansion and variable step search strategy is proposed to elude static threats rapidly.  Furthermore, the combinatorial methodology of the minimum RCS tactics and the modified A-Star algorithm is applied to achieve the dynamic path planning for SUAV.  The simulation results indicate that the modified A-Star algorithm and minimal RCS tactics can significantly reduce the probability of radar system, which has better superiority in calculation efficiency, path cost and safety. 
modified A-Star algorithm
Furthermore, the combinatorial methodology of the minimum RCS tactics and the modified A-Star algorithm is applied to achieve the dynamic path planning for SUAV.  The simulation results indicate that the modified A-Star algorithm and minimal RCS tactics can significantly reduce the probability of radar system, which has better superiority in calculation efficiency, path cost and safety. 
the modified A-Star algorithm