28、无人机路径规划与仿生鼹鼠机器人挖掘机制设计

无人机路径规划与仿生鼹鼠机器人挖掘机制设计

无人机路径规划算法

在无人机的应用场景中，路径规划是一个关键问题，尤其是在存在静态障碍物和地理围栏障碍物的环境中。下面将详细介绍一种基于直线路径的路径规划算法。

算法伪代码

该算法的伪代码如下：

environment setup
generate obstacles 
get the start and the goal point 
generate static obstacles and geo-fence obstacles
while  (reach to the goal) 
    draw line to goal from current node 
    if (obstacle detected) 
        find the nearest obstacle 
        check obstacle type 
        if (static obstacle) 
            two way points are generated at each line of sight of the ob 
            stacle 
        else
            check the time parameter of the obstacle 
            if (UAV can pass through) 
                two way points are generated behind of line of sight of t