Fast Path Recovery Algorithm for Obstacle Avoidance Scenarios
A fast path recovery algorithm for unmanned aerial vehicles(UAVs)in obstacle avoidance scenarios is proposed to ad-dress the shortcomings of most existing obstacle avoidance algorithms that lack consideration for UAV path recovery,and a few path recovery algorithms have poor recovery effects.Taking into account environmental constraints and UAV maneuverability constraints,a safe and efficient UAV obstacle avoidance and path recovery path is planned by rotating the coordinate system,de-termining the turning direction of the UAV,and calculating the coordinates of multiple key path points throughout the entire ob-stacle avoidance and path recovery process using the binary method.The comparative experimental results show that the fast path recovery algorithm can plan shorter obstacle avoidance and path recovery paths,and the obstacle avoidance can start at the track points closer to the obstacle.The obstacle avoidance and path recovery time is shorter,the path deviation is smaller,and the over-all path is better.This is more advantageous for most reconnaissance scenarios where UAVs need to cruise along off-line paths as much as possible.
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