A Modified Dynamic Path Planning Algorithm for UAV

The dynamic path planning algorithm is modified in this article. The answer to the problem when obstacles become overlapped, cannot be found by the previous algorithm. This newly introduced algorithm does not have any limitation regarding the number or states of obstacles, that is, it can be applied in any complex environment and complicated applications. This algorithm is applied for moving target(s) and any obstacles state. When the UAV is close to the target a virtual obstacle is considered to solve the problem of the dynamic path planning algorithm. Numerical simulations are performed to verify the feasibility and capability of this proposed algorithm.