Kinodynamic and Spatio-Temporal Deformation Path Planning for UAVs
Fujing Cao, Zhaowen Xu · 2024
In the autonomous navigation and operation of Unmanned Aerial Vehicles (UAVs), motion planning is a key technical module. Although most existing research has divided UAV path planning into two stages: path search and trajectory optimization, many path search algorithms do not fully consider the motion dynamics constraints of UAV s, while trajectory optimization algorithms mainly focus on path point optimization, neglecting the constraints of time parameters. In response to this problem, this study thoroughly investigates the effects of UAV motion dynamics constraints and time parameters on path planning. Based on a specific rotary wing UAV platform, this paper proposes a novel path planning algorithm that not only satisfies the motion dynamics requirements of UAV s, but also considers the constraints of time parameters. Through simulation experiments, the application effect of this algorithm in the autonomous obstacle avoidance of UAV s is verified, proving the robustness and effectiveness of its flight path.