无威胁情况下任意两点间的无人机路径规划

Path planning of UAV between two random points without threats

针对无威胁情况下无人机的路径规划问题,提出了一种较简单、有效的路径规划方法:基于几何原理的无人机路径规划法。在提出了无威胁情况下路径规划的一些基本约定的基础上,重点研究了基于几何原理路径规划法的基本思想,并给出了路径规划的主要步骤。最后,通过一个仿真算例验证了此方法的有效性,并对此方法的优缺点进行了总结。

For the path planning of unmanned aerial vehicles （UAV） without threats, a simple and effective method, path planning based on geometric method, is proposed. After showing the basis of the geometric method, the primary ideas and realization steps of path planning based on geometric method is studied. Then, an example is given and the results demonstrate the proposed method is effective. Finally, the advantages and disadvantages of the geometric method are summarized.