A Path Planning Method of Unmanned Aerial Vehicle

In the process of unmanned aerial vehicle (UAV) flight path planning, it is sometimes necessary to limit the flight altitude of a UAV. However, some existing path planning methods are not applicable for this restricted condition. In this paper, for the condition that we require the UAV to fly only in a straight line, by analyzing the UAV' flight conditions and environmental constraints, we propose a path planning method based on related knowledges of spatial analytic geometry. We determine the planning space as two-dimension or three-dimension according to the UAV' flying altitude. Then we analyze, formalize these constraint conditions, and set the goal function by analyzing the goal conditions. Finally, we compute the goal function and limiting conditions according to the different goals and restriction. Based on the related knowledges of spatial analytic geometry, we give a optimal path planning method of UAV.