A Dynamic Trajectory Planning Algorithm for Urban Ultra-Low Altitude UAVs Based on a Fusion Heuristic Algorithm

This paper presents a dynamic trajectory planning method for ultra-low altitude UAV flights in urban multi-building environments and conducts simulations of multiple UAVs dynamic trajectory planning in urban environments. The initial UAV trajectory is obtained by adding a time dimension to the traditional $\mathrm{A}^{\star}$ algorithm, and the environment is monitored during flight, and local path re-planning is carried out by an improved ant colony algorithm when unexpected obstacles are encountered. Simulation experiments show that the dynamic trajectory planning algorithm proposed in this paper improves the usability of the planned path compared with the traditional path planning method, and the combination of pre-planned path and dynamic corrected trajectory is beneficial to the UAVs efficient flight in the complex urban environment.