Accurate Obstacle Avoidance for Quadcopter UAVs under Moving Obstacle Conditions based on A* Algorithm

Abstract

Aiming at the problem that UAVs are easy to interfere with the normal activities of animals when observing wild animals, an A*-based algorithm is proposed, and through the improvement of the A* algorithm, it realises the accurate obstacle avoidance of the quadcopter UAV under the moving obstacles to ensure that it can effectively complete its tasks in the field. Firstly, the UAV kinematic model is established by analysing the UAV dynamics; secondly, the traditional A* algorithm is introduced and improved, and the improved A* algorithm is able to autonomously regulate the distance maintained with obstacles, which is suitable for observing different kinds of animals in the field; finally, the code is written for the algorithm and the moving path of the UAV is derived under the condition of maintaining different distances from obstacles, which shows the improved algorithm's The feasibility of the improved algorithm is shown.