Open AccessAutomated Path Planning for unmanned aerial vehicle in Urban Dynamic Area
Author(s) -
Yinsong Ma,
Guangcai Liu
Publication year - 2022
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/2252/1/012045
Subject(s) - obstacle avoidance , motion planning , path (computing) , computer science , trajectory , obstacle , collision avoidance , piecewise , any angle path planning , mathematical optimization , real time computing , collision , mobile robot , artificial intelligence , robot , mathematics , geography , mathematical analysis , physics , computer security , archaeology , astronomy , programming language
This paper addresses the path planning and autonomous obstacle avoidance problem of UAVs in urban dynamic area. A flight path planning strategy for UAVs in complex urban environments is proposed.First, the A* algorithm is used to construct a desired global path in a 3D static environment, which is used as the static reference path for dynamic obstacle avoidance below.The environmental and the key points of algorithm are also elaborated. In this paper, the dynamic obstacles are divided into three categories, then, in order to avoid the collision between dynamic obstacles and static optimal paths, two strategies to achieve local online path adjustment are proposed. Finally, the seven order minimum snap trajectories generation based on piecewise polynomials is utilized to smooth the flight path.We can obtain a smooth trajectory based on UAV dynamics and safety. The simulation results verify the effectiveness of the proposed UAV path planning strategy in the dynamic and complex urban area.