Abstract
AbstractThis 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.
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