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Path Planning for UAV Based on Improved PRM

Author

Listed:
  • Weimin Li

    (School of Mechanical Engineering, Anhui Polytechnic University, Wuhu 241000, China)

  • Lei Wang

    (School of Mechanical Engineering, Anhui Polytechnic University, Wuhu 241000, China)

  • Awei Zou

    (School of Mechanical Engineering, Anhui Polytechnic University, Wuhu 241000, China)

  • Jingcao Cai

    (School of Mechanical Engineering, Anhui Polytechnic University, Wuhu 241000, China)

  • Huijuan He

    (School of Mechanical Engineering, Anhui Polytechnic University, Wuhu 241000, China)

  • Tielong Tan

    (Wuhu Kepu Intelligent Equipment Co., Ltd., Wuhu 241000, China)

Abstract

In this paper, an improved probabilistic roadmap (IPRM) algorithm is proposed to solve the energy consumption problem of multi-unmanned aerial vehicle (UAV) path planning with an angle. Firstly, in order to simulate the real terrain environment, a mathematical model was established; secondly, an energy consumption model was established; then, the sampling space of the probabilistic roadmap (PRM) algorithm was optimized to make the obtained path more explicit and improve the utilization rate in space and time; then, the sampling third-order B-spline curve method was used to curve the rotation angle to make the path smoother and the distance shorter. Finally, the results of the improved genetic algorithm (IGA), PRM algorithm and IPRM algorithm were compared through a simulation. The data analysis shows that the IGA has significant advantages over other algorithms in some aspects, and can be well applied to the path planning of UAVs.

Suggested Citation

  • Weimin Li & Lei Wang & Awei Zou & Jingcao Cai & Huijuan He & Tielong Tan, 2022. "Path Planning for UAV Based on Improved PRM," Energies, MDPI, vol. 15(19), pages 1-16, October.
    • Handle: RePEc:gam:jeners:v:15:y:2022:i:19:p:7267-:d:932673
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