A UAV Dynamic Path Planning Algorithm
Xiaojian Hou, Fei Liu, Renjie Wang, Yao Yu
Abstract
In this paper, we propose a UAV dynamic path planning algorithm to solve the path planning problem of a single UAV in a dynamic environment. The contributions of this paper mainly include the following two folds: (1) Using a combination of global and local path planning to improve planning efficiency. (2) The improved Q-Learning algorithm and artificial potential field method are combined to solve the problem that effective path planning cannot be performed between two path nodes. Finally, simulation results with Matlab proves the effectiveness of the algorithm.
Topics & Concepts
Motion planningAny-angle path planningPath (computing)Computer scienceMATLABPotential fieldAlgorithmMathematical optimizationA* search algorithmField (mathematics)Fast pathArtificial intelligenceMathematicsRobotGeologyGeophysicsOperating systemPure mathematicsProgramming languageRobotic Path Planning AlgorithmsDistributed Control Multi-Agent SystemsRobotics and Sensor-Based Localization