An Autonomous Path Planning Method for Unmanned Aerial Vehicle Based on a Tangent Intersection and Target Guidance Strategy

Unmanned aerial vehicle (UAV) path planning enables UAVs to avoid obstacles and reach the target efficiently. To generate high-quality paths without obstacle collision for UAVs, this article proposes a novel autonomous algorithm based on tangent intersection guidance strategy (APPATT). Guided by target, elliptic graph method is used two sub-paths, one of which selected heuristic rules when confronting an obstacle. The UAV flies along sub-path repeatedly adjusts its flight through way until collision-free extends target. Considering kinematic constraints, cubic B-spline curve employed smooth waypoints obtaining feasible path. Compared with A*, PRM, RRT VFH, experimental results show that APPATT can shortest within 0.05 seconds each instance under static environments. Moreover, compared VFH RRTRW, satisfactory uncertain environments in nearly real-time manner. It worth noting has capability escaping from simple traps reasonable time.