UAV Real-Time Path Planning Based on Heuristic Angle Search Strategy in an Unknown Environment

For the problem of poor safety and real-time tracking of the paths planned by UAVs with unknown map information, an improved JPS algorithm based on a heuristic angle search strategy is proposed on the basis of the traditional JPS algorithm. This algorithm improves the jump point screening rules and introduces the visual camera's field of view angle as a heuristic factor to obtain obstacle information ahead of time, improving the real-time safety of path planning. The path is also smoothed by using a B-spline curve. Finally, the simulation and comparison experiments of the A* algorithm, the JPS algorithm, the hybrid A* algorithm, and this algorithm are conducted in a gazebo environment. The experimental results show that the path planned by this algorithm can effectively reduce the threat caused by unknown obstacles, and real flight experiments are being conducted on a UAV based on the ROS operating system to prove the feasibility and safety of this algorithm.