Speed-adaptive safe motion planning method for UAVs
To address the safety issues of unmanned aerial vehicles(UAVs)flying in 3D complex environments,this paper proposes a speed-adaptive UAV safety motion planning method.Firstly,in the front-end path search stage,a directional disruption factor is introduced into A* algorithm to re-duce redundant expansion nodes during the search process and improve search efficiency.Secondly,in the back-end trajectory planning stage,a safety threat factor is designed to consider the relation-ship between the magnitude and direction of UAV motion velocity and obstacles.This factor is com-bined with B-spline curve constraints to achieve adaptive velocity adjustment of UAVs.Furthermore,the time allocation of the trajectory is adjusted to ensure the kinematic feasibility of the obtained traj-ectory.Simulation results show that the proposed method demonstrates a 70.218％reduction in planning time and a 76.166％decrease in required flight cost,thus validating the effectiveness of the proposed approach.
UAVmotion planningspeed-adaptiveB-spline curveheuristic function
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