Unmanned Aerial Vehicle Trajectory Optimization Algorithm Based on Safe Flight Corridors
Ying Huang, Zhou Wang, Juncheng Lv · 2024
In recent years, unmanned aerial vehicle (UAV) technology has matured, and it has been widely applied in scenarios such as map surveying, architectural surveying, and emergency rescue operations. With the increasing level of intelligence in UAVs, their ability to independently execute tasks has gradually become feasible. For intelligent UAVs, the quality of their mission depends on their motion planning capabilities, with trajectory optimization being a crucial component. Addressing the issues of traditional trajectory optimization algorithms, which often result in trajectories close to obstacles and fail to satisfy the UAV's kinematic feasibility, a method is proposed to construct flight corridors and combine them with traditional numerical optimization algorithms. Finally, through simulation and comparative experiments, the feasibility of the proposed method is demonstrated.