Path planning of a four-rotor aircraft based on shortest path algorithm and statistical analysis

Nowadays, the four-rotor aircraft path planning is an important research subject. To control the single four-rotor aircraft, we propose a path pre-planning algorithm and integrate the shortest path algorithm and the statistical analysis method into the algorithm. According to the certainty of path planning, we set the pre-planned paths in the electronic map for 3-d coordinate as trajectories. The aircraft gets the valid data from the three-dimensional coordinate. Then it adjusts the attitude and position in real-time to complete the path planning by using the data. In this paper, the algorithm improves the aircraft control accuracy and stability. We apply the path pre-planning algorithm to the four-rotor aircraft and verify the algorithm with simulations. The results of simulations show the accuracy and feasibility of the algorithm.