Path planning for unmanned aerial vehicle under geo-fencing and minimum safe separation constraints

UAV works under a complex environment and features a high flight freedom in low altitude flight, and path planning is a difficult point in guaranteeing economy and safety of flight. This paper abstracts the path planning of UAV into multi-objective optimization and puts forward a path representing method with a multi-gene structure. On this basis, the paper puts forward a path planning method based on self-adapted difference multi-objective optimization algorithm and achieves a comprehensive assessment of path flight. The simulation result indicates that the path planning algorithm can effectively create a 3D optimal path that meets constraint conditions and each performance index of UAV and fulfill the function of obstacles sensing and avoidance under a complex low altitude.