Research On Path Planning Algorithm Of Quadrotor Based On A* And Artificial Potential Field

With the development of microelectronic and micro-electromechanical technology,the manufacturing cost of UAV continues to decrease and its performance is continuously improved.After decades of development,UAVs have been widely used in civil and military fields.Quadrotor,as a typical civilian UAV,has developed rapidly in recent years and has become an indispensable tool in aerial photography.Intelligence is the main direction of the development of the quadrotor at this stage.The autonomous motion of the quadcopter has always been the focus of researchers.As one of the key technologies of autonomous navigation,the path planning has great research value.A path planning method based on A * and artificial potential field method i s proposed to meet the needs of quadrotor path planning,which makes the quadrotor possess both strong path search capability and obstacle avoidance capability.Through the investigation and research on the technology of t he quadcopter's path planning,this paper presents a quadrotor path planning space modeling method and a quadrotor dynamic model.The Voronoi diagram is used to establish the path planning environment of the quadrotor.Using the A* algorithm to search the global optimal path in the Voronoi diagram,the advantages and disadvantages of path planning by artificial potential field method are studied and analyzed,Aiming at the problem of local minima of artificial potential field,the force field function is improved.The local path planning based on artificial potential field is realized and the simulation analysis is carried out.A hierarchical algorithm is proposed to design a path planning algorithm based on A * algorithm and artificial potential field method.A* algorithm is used to perform global path planning.Local path planning is performed using artificial potential field and the quadrotor.According to the actual movement of the quadrotor,the dynamic environment processing method is added to the algorithm,including the detection and processing of the local minimum state and the updating rules of global and local paths and other abnormal states.The simulation program is designed to simulate the actual situation of the four-rotor UAV.The proposed algorithm is simulated and compared with the A* algorithm,the RRT algorithm and the PRM algorithm.The results show that the algorithm proposed in this paper can c ombine the advantages of both A* and artificial potential fields to avoid obstacle avoidance and route searching at the same time.The planned route has the advantages of smooth route,good distance control with obstacles and short route length.