The Obstacle-Avoidance Path Planning for UAV Based on IOCAD

To plan the path for UAV flying in the complex, dense and irregular obstacles environment, this paper proposed an obstacle collision-avoidance detection model and designed an UAV path planning algorithm based on irregular obstacles collision-avoidance detection (IOCAD), which includes irregular obstacles pretreatment method. The proposed method uses the grid method to model the environment. Rough set theory and convexity filling are used to pretreat the obstacles, and the ray method is used to select the available points. The intersection detection and the distance detection are held for the obstacle to the flight path. The objective function minimizes the distance from the obstacle to the flight path to get planned paths. The simulation results show that the proposed method can effectively plan the paths with the constraints of the assumed environment and UAV performances. It is shown that the performance of the proposed method is sensitive to the grid length and safety distance. The optimized values for the grid length and safety distance are 0.5 km and 0.4 km respectively