Research on UAV Path Planning Method Based on Collision Free Trajectory

Authors

• Jun Xie, Central China Branch of State Grid Corporation, Wuhan 430077, China
• Qi Zhang, Beijing Machinery and Equipment Research Institute, Beijing 100854, China
• Yanyun Peng, Beijing Machinery and Equipment Research Institute, Beijing 100854, China
• Haonan Shi, Beijing Machinery and Equipment Research Institute, Beijing 100854, China
• Dongyang Li, Beijing Machinery and Equipment Research Institute, Beijing 100854, China
• Xi Liu, Nanrui Group (State Grid Electric Power Research Institute) Co., LTD., Nanjing 210061, China; State Grid Electric Power Research Institute Wuhan Nanrui Co., LTD., Wuhan 430074, China

Abstract

Abstract: In view of the problems of poor quality, long time consumption, and low efficiency of the autonomous path planning method for unmanned aerial vehicles, a path planning method for unmanned aerial vehicles based on a collision-free trajectory was proposed. Under the premise of uncertainty, the time-related virtual points and collision threshold were set; the obstacle was modeled as a rectangle; the interest points around the rectangle were defined. The uncertainty optimization model between the unmanned aerial vehicles and the obstacle was established, so as to obtain the allowable edge of the collision-free trajectory of the unmanned aerial vehicles. The improved PRM method was adopted to solve the edge, so as to obtain the collision-free trajectory of unmanned aerial vehicles. The UAV toolbox of simulation software was used to simulate and experiment on the path planning method for unmanned aerial vehicles. The results show that the proposed method is more suitable for real-time autonomous path planning for unmanned aerial vehicles, thus improving the autonomous path planning performance of unmanned aerial vehicles.

Recommended Citation

Xie, Jun; Zhang, Qi; Peng, Yanyun; Shi, Haonan; Li, Dongyang; and Liu, Xi (2026) "Research on UAV Path Planning Method Based on Collision Free Trajectory," Journal of System Simulation: Vol. 38: Iss. 3, Article 20.
DOI: 10.16182/j.issn1004731x.joss.25-0028
Available at: https://dc-china-simulation.researchcommons.org/journal/vol38/iss3/20

First Page

808

Last Page

817

CLC

TP18

Recommended Citation

Xie Jun, Zhang Qi, Peng Yanyun, et al. Research on UAV Path Planning Method Based on Collision Free Trajectory[J]. Journal of System Simulation, 2026, 38(3): 808-817.

Corresponding Author

Zhang Qi

DOI

10.16182/j.issn1004731x.joss.25-0028