Application in Real-Time Planning of UAV Based on Velocity Vector Field

A method for path planning for UAV was developed. This method is based on vector field, which has been used popularity in obstacle avoidance applications because of its elegance and simplicity. For solving the inherent limitations of vector field, the methods of adding guide field and virtual target point was used to deal with local minimization which caused by losing lots of environment information. Environment updating mechanism was used in this algorithm for the dynamic environment. Simulation result indicated the method based on velocity vector field was effective in real-time path planning of UAV. And From the statistics of planned time, the algorithm can satisfy real-time planning well.