An approach to UAV path planning based on geometry
In order to adapt to the existing flight control computing power and improve the computing efficiency,an UAV path planning algorithm based on geometrics is proposed.This method could instantly solve the obstacle avoidance problem in two-dimensional regions through computational geometry and vector operations,thus able to avoid the global map grid representation problem and to significantly reduce the computation time,meanwhile ensuring the optimization level.The planning time can reach the millisecond level.Moreover,this method supports real-time upload of obstacle region data and online dynamic planning computation.Since the turning radius of UAV is taken into consideration,the planned path smoothing is not required in this method.The feasibility and effectiveness of the method are fully validated by numerical simulation and flight test comparison with the planned path reaching the optimal level.
unmanned aerial vehiclepath planningobstacle avoidancecomputational geometryflight control
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