A Study on 3D Optimal Path Planning for Quadcopter UAV Based on D* Lite

Since unmanned aerial vehicle (UAV) for industries are operated in complex low altitude environments, planning feasible paths is a necessary feature to achieve mission goals. D* Lite is applicable for industrial complex that uncertainties exist. This paper focuses on 3D path planning for quadcopter UAV based on D* Lite. Simulation results show that the algorithm can be applied in cluttered static and dynamic environments including unknown obstacles. In addition, when some waypoints exist, the proposed algorithm is able to optimize the global path by determining visit order. Therefore, this study is expected to contribute to increase the application of UAVs in industrial fields.