UAV path planning in the presence of static and dynamic obstacles
Soheila Ghambari, Julien Lepagnot, Laëtitia Jourdan, Lhassane Idoumghar · 2020
This paper investigates the application of a UAV path planning method to avoid collision with static and dynamic obstacles in urban environments. For this purpose, a hybrid algorithm based on differential evolution (DE) assisted by A* algorithm is used for global path planning. Thereafter, multiple sub-paths surrounding the global path is generated based on local information. This helps the UAV to react appropriately with split seconds, to avoid the collision if moving obstacles appear. A series of experiments have been conducted using two urban datasets to demonstrate the effectiveness of the presented approach in terms of the path cost and computational time.