Study on a Kind of Path Planning Algorithm for UAV
Xiaoguang Gao · Acta Simulata Systematica Sinica · 2004
The difference between flight path planning and trajectory planning is presented, and a path planning scheme for UAV is developed. Constructing and searching a voronoi diagram based on the locations of the threats, an initial reference threat-avoiding flight path to the target is generated. This initial reference path cannot be followed by the UAV. In this paper, cubic spline theory and sequential quadratic programming are used for optimizing the initial reference path. The optimized path is flyable to the UAV. The Matlab simulation result demonstrates the path planning algorithm is effective.