Unmanned aerial vehicle (UAV) path planning enables UAVs to avoid obstacles and reach the target efficiently. To generate high-quality paths without obstacle collision for UAVs, this article proposes a novel autonomous path planning algorithm based on a tangent intersection and target guidance strategy (APPATT). Guided by a target, the elliptic tangent graph method is used to generate two sub-paths, one of which is selected based on heuristic rules when confronting an obstacle. The UAV flies along the selected sub-path and repeatedly adjusts its flight path to avoid obstacles through this way until the collision-free path extends to the target. Considering the UAV kinematic constraints, the cubic B-spline curve is employed to smooth the waypoints for obtaining a feasible path. Compared with A*, PRM, RRT and VFH, the experimental results show that APPATT can generate the shortest collision-free path within 0.05 seconds for each instance under static environments. Moreover, compared with VFH and RRTRW, APPATT can generate satisfactory collision-free paths under uncertain environments in a nearly real-time manner. It is worth noting that APPATT has the capability of escaping from simple traps within a reasonable time.


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    Title :

    An Autonomous Path Planning Method for Unmanned Aerial Vehicle Based on a Tangent Intersection and Target Guidance Strategy


    Contributors:


    Publication date :

    2022-04-01


    Size :

    2409106 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English





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