Path Planning Algorithm for UAV in Complex Environment Based on State Change

摘要

Based on the physical phenomenon that the voltage across the ideal inductance element changes with the ideal power supply voltage in the circuit, a new path planning algorithm in the complex environment of UAVs is proposed. Aiming at the tracking problem of dynamic targets, a state transition matrix is proposed to realize the tracking of dynamic targets; for the obstacle avoidance problem of dynamic obstacles, the state change of the UAV is used to define the amount of state change to achieve dynamic obstacle avoidance; using state superposition, to achieve obstacle avoidance and tracking of dynamic targets in complex environments. The simulation results show that this method can effectively avoid obstacles and track dynamic targets, with low computational complexity and strong real-time performance.