An Improved Obstacle Avoidance Method Suitable for Un-manned Aerial Vehicles
Xianbang Li, Chengju Zhang, Xiaogang Wang, Long‐Cheng Tang, Dongdong Zhang · Journal of Physics Conference Series · 2025
Abstract To achieve the avoidance of dangerous obstacles for Unmanned Aerial Vehicle, we propose a bidirectional RRT algorithm based on Goal oriented. The dangerous obstacles consist of mountains, electronic fence and so on. This algorithm can achieve avoidance of multiple circular and polygonal obstacles. The following are the key points: Firstly, the proposed bidirectional RRT algorithm with target orientation can be applied to fixed wing unmanned aerial vehicles boarding fast flying vehicles. Secondly, the proposed algorithm can achieve avoidance of multiple electronic fences. Thirdly, The proposed method reduces the number of path points by backtracking the path. Finally, the proposed algorithm can achieve obstacle avoidance with a safe radius. Multiple polygons and circles obstacles are designed to verified the proposed algorithm. The simulation results shown that the proposed method can quickly obtain the path under multiple circular and polygonal obstacle conditions.