Real-Time Route Plan for UAV Lower Aerial Collision Avoidance Based on Boundary Normalization

Due to widespread application of small UAVs, serious safe problems for urban lower aerial areas have being risen. For an unknown urban area, the real-time collision avoidance route plan is the important technology for improving the UAV lower aerial flight safety. Aiming at the problem that the traditional Laguerre route planning cannot be used for real time application, a real-time rolling model for Laguerre planning based on decomposed single flight segment is firstly built in this paper. Furthermore, by obstacle boundary normalization, the consistency of Laguerre route is ensured for various position relations among obstacles, and the safest Laguerre route planning theorem for collision avoidance for single flight segment is exposed. Based on above analysis, a real-time route plan method for UAV lower aerial collision avoidance based on obstacle boundary normalization is presented. The planning tests have been done for simulating complex urban district, the testing results show that the presented route planning method can not only be applied for real-time route planning in unknown areas, but its collision avoidance safety for planned route is better than other compared methods.