Zhipeng Hou

Mar 24, 2023 | mdpi.com | Gang Tang |Pengfei Liu |Zhipeng Hou |Christophe Claramunt

Abstract:A suitable trajectory in a port inspection mission is important for unmanned aerial vehicles (UAVs). Motion planning can help UAVs quickly generate an optimal trajectory that meets the constraints. The motion planning of UAVs is achieved in this paper as follows: firstly, a collision detection (CD) function is applied that evaluates whether the bias_RRT* (rapidly exploring random tree) algorithm needs to be called. Secondly, an isosceles triangle optimization function optimizes the path.