Since unmanned aerial vehicle (UAV) for industries are operated in complex low altitude environments, planning feasible paths is a necessary feature to achieve mission goals. D* Lite is applicable for industrial complex that uncertainties exist. This paper focuses on 3D path planning for quadcopter UAV based on D* Lite. Simulation results show that the algorithm can be applied in cluttered static and dynamic environments including unknown obstacles. In addition, when some waypoints exist, the proposed algorithm is able to optimize the global path by determining visit order. Therefore, this study is expected to contribute to increase the application of UAVs in industrial fields.
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机译：由于工业的无人驾驶飞行器（UAV）在复杂的低空环境中运行，因此规划可行的路径是实现任务目标的必要功能。 D * Lite适用于不确定性存在的工业群体。本文重点介绍基于D * Lite的四桥UAV的3D路径规划。仿真结果表明，该算法可应用于杂乱的静态和动态环境，包括未知障碍物。另外，当存在某些航路点时，所提出的算法能够通过确定访问订单来优化全局路径。因此，预计本研究有助于增加无人机在工业领域的应用。
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