Study on real-time safe route planning method for quad-rotor UAV among buildings

Collision avoidance is becoming a severe safe challenge for the small UAVs flying among urban buildings. For flight in an unknown urban area, real-time safe route planning method is needed urgently. This paper just focuses on this problem. Based on the basic principle of Laguerre diagram, the Laguerre route is firstly induced for a single prepared flight aisle between two buildings. And then the safest Laguerre route is found by analyzing the collision avoidance safe error of routes. Furthermore, a real-time safe route planning method based on Laguerre diagram can be built for the collision avoidance of quad-rotor UAV in urban areas. The presented method has been shown that its route safe property is fine by the simulation results, and it can be applied to make a quad-rotor UAV to fly through an unknown urban area.