基于B~*算法实现无人机自主避让之探析

Analysis of Unmanned Aerial Vehicles' Indenpendent Avoidance Based on B~* Pathfinding Algorithm

虽然Realsense 3D摄像头可以帮助无人机在空中识别障碍物位置,但仍需要一种寻路算法为无人机提供路径规划。B~*寻路算法相比较于其它算法可以多分支进行路径规划,省去了在服务器端进行寻路搜索所消耗的大量时间,一定程度上解决了常规寻路的效率问题。本文就无人机基于B~*寻路算法在空中实现自主避让这一功能进行探析。

Although Realsense 3 d camera can help unmanned aerial vehicle（UAV）identify the location of obstacles in the air,it still needs a pathfinding algorithm for UAV route planning. Compared to other path planning algorithms,B^＊ pathfinding algorithm has more branches which save a lot of time of searching pathfindings on the server-side.To some extent,it improves the efficiency of conventional pathfinding. This text explores the function of independent avoidance in the air based on the B^＊ pathfinding algorithm.