| Citation: | ZHANG Shuai, LI Xueren, ZHANG Jianye, et al. UAV 3D real-time path planning based on dynamic step[J]. Journal of Beijing University of Aeronautics and Astronautics, 2016, 42(12): 2745-2754. doi: 10.13700/j.bh.1001-5965.2015.0821(in Chinese)
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Because planning unmanned aerial vehicle (UAV) path directly in 3D space is difficult, we divide 3D path planning into 2D plane path planning and height planning, and then combine them to get the 3D path so that planning space is simplified and complexity is reduced. To search the path subtly in the region near threat, we propose a dynamic searching step strategy according to the distance between UAV and threat. Setting sub-goal helps UAV to quickly modify the path and realize path re-planning when UAV meets the unexpected threat. Simulation results demonstrate that the proposed method is effective. UAV can bypass the unexpected threat and plan 3D path successfully. The threat probability of path decreases through taking dynamic step.
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