文档介绍：弹箭与制导学报
Journal of Projectiles,Rockets,Missiles and Guidance
ISSN 1673-9728,CN 61-12 率高、平滑度好、成功率高的特点，能够在未知环境、快速飞行过程中自动避障以避免碰撞威胁，更适用于四旋翼
的在线规避航迹规划。
关键词：四旋翼无人机；在线规避；航迹规划；分段多项式
中图分类号： 文献标识码：A
Online avoidance path planning method for Quadrotor
Zhao Wenjiao1, Gan Xusheng2
(1. College of Traffic Engineering, Shanxi Vocational University of Engineering and Technology, Shanxi Jinzhong 030619,
China；
2. Air Traffic Control and Navigation College，Air Force Engineering University，Xi’an 710051，China)
Abstract: In order to meet the real-time obstacle avoidance requirements of Quadrotor in urban, mountainous and dense forest
environments, an online flight path planning method for Quadrotor was proposed. On the analysis of the four rotor unmanned
aerial vehicle, on the basis of space motion of the four rotor unmanned aerial vehicle flight track by piecewise polynomial
model, introducing the distance cost, collision and speed and acceleration penalty term, through the guidance of geometry the
initial track is drawn to the fre