Abstract:

The study of autonomous planning of unmanned aerial vehicles (UAVs) feasible online path has an important practical significance for UAV to adapt to unstructured environment and improve maneuvering warfare capability. An online trajectory planning algorithm of UAV based on Pythagorean Hodograph (PH) curve is put forward. According to the UAV’s current flight state, the target’s state, and the sensors’ detecting information, collision avoidance feasible trajectories which have continuous curvature are planned out in real-time. Considering the kinematics and dynamic constraints, the distribution estimation algorithm is used to optimize the selection of path parameters, and the probability selection mechanism of global elite individuals based on interval selection is raised, which improve the speed and precision of the path generation. According to the principle of velocity obstacles, combing the characteristics of PH curves, the dynamic collision avoidance path planning algorithm is designed, which provides fast convergence to the final trajectory. Simulation results for a set of UAVs in environments with different configurations prove the validity and practicability of the algorithm.