Research on Autonomous Obstacle Avoidance Flight Path Planning of Rotating Wing UAV

The rotary wing UAV has an important practical significance in the military and civil fields. The ability of autonomous flight control and obstacle avoidance is the precondition for ensuring the safe flight of unmanned aerial vehicles. This paper uses contour map data to see the closed contour curve as an obstacle, extracts the height data of the control points, and removes the insertion values outside the measured elevation to get the closed polygonal curve as obstacles to carry out UAV path planning. The simulation results show that the algorithm is feasible and has some advantages in the complex terrain, such as mountain area, city and so on.