Research on Self-adaptive Path-Planning for Aerocraft in 3D Dynamic Environments

This paper provides a new approach to solve the motion planning problems of aerocraft in uncertain 3D dynamic environments. The aerocrafts controlled by this method can adaptively choose the fast way to avoid collision without information about the shapes and trajectories of obstacles. Based on sphere coordinates the new path-planning method accomplishes collision avoidance of aerocraft without any other auxiliary positioning systems. The Self-adaptive system gives aerocrafts self-protection abilities to work in uncertain 3D dynamic environments. Simulations illustrate the validity of the proposed method.