Research on Dynamic Path Exploration and Planning Method of Quadrotor Unmanned Aerial Vehicle in Complex Environment

Abstract

As a research hotspot in the field of mobile robots in recent years, UAV(Unmanned Aerial Vehicle) has been improving its autonomous performance. Compared with traditional UAV, UAV has many advantages, such as vertical lifting, strong maneuverability and convenient operation. However, the dynamic path planning of quadrotor UAV, as a typical autonomous ability of mobile robot, has always been the research focus in the field of UAV. In this regard, this paper will try to study the dynamic path exploration planning method of quadrotor UAV in complex environment. In the complex environment model, the comparative simulation from the aspects of calculation time, calculation complexity and success rate shows that the selection of high-order polynomials can ensure high-order continuity, but it will also increase the calculation time and complexity. Compared with CF algorithm, the calculation time in this paper is 57% lower on average and the success rate is 17.6% higher on average, which shows that this algorithm is more suitable for online flight path planning of quadrotor. Comparatively speaking, the success rate of the other two methods decreases with the increase of environmental complexity, and the overall calculation time is longer.