Abstract:

In view of the problems of poor quality, long time consumption, and low efficiency of the autonomous path planning method for unmanned aerial vehicles, a path planning method for unmanned aerial vehicles based on a collision-free trajectory was proposed. Under the premise of uncertainty, the time-related virtual points and collision threshold were set; the obstacle was modeled as a rectangle; the interest points around the rectangle were defined. The uncertainty optimization model between the unmanned aerial vehicles and the obstacle was established, so as to obtain the allowable edge of the collision-free trajectory of the unmanned aerial vehicles. The improved PRM method was adopted to solve the edge, so as to obtain the collision-free trajectory of unmanned aerial vehicles. The UAV toolbox of simulation software was used to simulate and experiment on the path planning method for unmanned aerial vehicles. The results show that the proposed method is more suitable for real-time autonomous path planning for unmanned aerial vehicles, thus improving the autonomous path planning performance of unmanned aerial vehicles.

Key words: collision free trajectory, UAV, path planning, model the obstacle as a rectangle, probabilistic roadmap method(PRM), simulation