Virtual Pipeline Flight Based Adaptive Dynamic Obstacle Avoidance Algorithm for UAVs

Due to the occlusion of buildings in three-dimensional space, it is difficult for UAV trajectory planning to find an optimal route. In this paper, by artificially creating a virtual pipe of the UAV cluster, the corner points and the obstacles that cannot be detected in advance in the virtual pipe are divided into dynamic obstacles and unknown obstacles, and a dynamic obstacle avoidance algorithm is added to the trajectory control in the virtual pipe, and a UAV adaptive obstacle avoidance algorithm with better implementation effect is designed. The algorithm can detect nearby dynamic obstacles and other fixed obstacles in the original trajectory path in real time to avoid collision, which has great practical significance.