Research on Dynamic Obstacle Avoidance Path Planning Strategy of UAV

In order to make the Unmanned Aerial Vehicle (UAV) avoid moving obstacles during operation, improve the survivability of the UAV in low-altitude dynamic and complex airspace, and ensure the safe operation of the UAV, a dynamic obstacle avoidance path planning strategy for UAV is proposed. When the UAV detects a moving obstacle, the UAV motion model is established considering the moving speed, moving direction and UAV turning radius of the UAV and the obstacle. Under the constraints of keeping the minimum safe distance between the UAV and moving obstacles as the premise, by changing the UAV turning radius, changing the UAV heading, solving the UAV minimum deviation distance, reducing the UAV obstacle avoidance space, so that the obstacle avoidance effect of the UAV can be optimized. The simulation results show that the calculated minimum deviation distance is about 35% smaller than the maximum deviation distance within the changing range of turning radius. Changing the turning radius of the UAV can reduce the obstacle avoidance space of the UAV and improve the utilization of airspace resources. Using this model, the optimal dynamic obstacle avoidance path of the UAV can be solved.