3D Trajectory Planning of UAV Based on DPGA

The goal of trajectory planning is to shorten the flight distance as much possible on premise ensuring safety UAV in flight. Therefore, research has broad prospects and great significance. As key technology planning, optimization algorithm increasingly become one focuses scholars at home abroad. dynamic programming characterized by high computational efficiency global planning. In 3D spatial search space expands, number grid points increases faster, time complexity O(n 3 ). It often leads a “Curse Dimension” phenomenon, which lowers its drastically. To solve this problem, paper divides entire into stages based Bellman's optimality principle. A programming-genetic algorithm(DPGA) proposed using genetic algorithm(GA) each stage for optimization, while algorithm(DP) ability verified through convergence analysis. Moreover, series simulation experiments, it shows that improved more efficient than alone optimization.