Fast Motion Planning of Autonomous Navigation Reconnaissance UAV Based on Range Field
Chuan Gu, Daoxing Guo · 2023
In order to solve the problems of slow convergence speed and low algorithm efficiency in path planning of UAV when using particle swarm optimization algorithm to face the unknown environment map, a method of particle initialization using artificial potential field method is proposed, Convert the no fly zone and target information covered by interference sources or obstacles in the known environment map into potential field values and display them on the grid map, and selects the grid with smaller potential field values during initialization. In the iterative optimization process, the smoothness of the solved trajectory, the obstacle avoidance of unknown obstacles and the distance from the target point are used as fitness values to find path points, and finally the B-spline curve is used to optimize the trajectory. The simulation results show that compared with PSO, the algorithm can save about 30% operation time under the same convergence effect.