Three-dimensional Dynamic Obstacle Avoidance Algorithm for Flapping-wing UAV Based on Improved A
With the development of unmanned aerial vehicles(UAVs),the application tasks of flapping-wing UAVs have become more and more complicated.During the flight process,UAVs will be interfered by static and dynamic unknown obstacles such as high-rise buildings,flying birds,etc.,which obviously affects the path planning efficiency of flapping-wing aerial vehicles.Therefore,to address the problems of inefficient path-finding unreliability and slow obstacle avoidance speed of path planning for flapping-wing UAVs in complex unknown dynamic environments,the A*-RVO(Reciprocal Velocity Obstacles)joint algorithm to realize three-dimensional dynamic and efficient obstacle avoidance.The traditional A* is improved to explore static obstacles and plan a smooth and reliable global path;the joint RVO algorithm is designed to realize dynamic real-time obstacle avoidance.The flexibility of the improved algorithm is demonstrated through comparative simulation experiments.
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