Dynamic obstacle avoidance path planning of UAVs

This paper presents a path planning algorithm named APF-IRP, which can be applied in complex dynamic environment for Unmanned Aerial Vehicles (UAVs). As is known to all, it is difficult for UAVs to have a clear understanding of the global environmental information before taking off. So the concept of rolling window is introduced to detect the dynamic and static obstacles within a certain range by radars on a real-time basis. The APF-IRP algorithm is a conjunction of Artificial Potential Field (APF) and improved Rolling Plan (RP). It compromises the merits of APF and RP: A collision-free path can be planned without the local-minima problem; the path is smooth and can rapidly converge to the target point; the performance constraints of UAVs are also taken into consideration.