Abstract
This paper designs a path planning algorithm based on a two-dimensional lidar. The algorithm is divided into two steps: static global path planning and dynamic local path planning. Static global path planning relies on the risk index map established by the known environment. In addition, a multi-objective optimization heuristic function is constructed to obtain the optimal path. Dynamic local path planning is enabled when UAV encounter obstacles. To overcome the limitations that lidar can only obtain partial obstacle information (the shape and size cannot be obtained), local target points are introduced into the dynamic path planning algorithm. In order to avoid obstacles and return to the planned path quickly, a multi-objective optimization problem based on energy consumption is constructed. Experimental results show that the path planning method can effectively complete the UAV path planning task. And UAV quickly return to the original path after avoiding obstacles.
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