Laguerre Graph self-optimize path planning algorithm for UAVs in irregular obstacle environment

摘要

In order to guarantee the adaption of Laguerre Graph algorithm for UAVs path planning, a novel method is proposed with the roundness assumption of all threat areas and no-fly-zones, after which Laguerre Graph algorithm is applied to pre-plan the flight path. With the original shape of threat areas, the path generated is optimized to be more suitable for UAVs. Simulations show the algorithm proposed satisfies time and veracity requirement.