3-D dynamic path planning for UAV based on interfered fluid flow

A 3-D dynamic path-planning algorithm based on interfered fluid flow (DA) is proposed for unmanned aerial vehicle (UAV) in dynamic environment. This paper first describes the mathematical modeling of convex obstacles. Then the static algorithm based on interfered fluid flow (SA) is introduced and improved, whose planning path conforms to the general characteristic of phenomenon that running water can avoid rock and arrive at destination. By updating the information of obstacles and obtaining the relative velocity, we then transform the dynamic problem to static problem. Therefore, DA is simplified by adopting SA. Finally, this dynamic algorithm proves to be efficient for real-time path planning by simulation results.