UAV Three-dimensional Hierarchical Path Planning
DOI:
https://doi.org/10.54097/ajst.v4i3.4922Keywords:
UAV, Hierarchical path planning, Three-dimensional elevation map.Abstract
Aiming at the disadvantages of low efficiency and long operation time of UAV path planning in traditional 3D mountain environment, this paper proposes a layered path planning model for 3D mountain environment. Firstly, three-dimensional elevation diagram is used to model the three-dimensional space, and the three-dimensional space is divided into horizontal and vertical directions, which effectively improves the efficiency of path planning. Secondly, B-spline curve method is used to fit the trajectory points of UAV. Finally, the simulation experiment is carried out. The results show that the generated UAV path is smoother and converges faster, which can meet the task requirements.
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