UAV Path Planning for Cave Exploration Using Tangent Based Intersection Method

Path planning plays a vital role in UAV applications, especially those that involve exploring a risky subterranean efficiently while avoiding obstacles. This work proposes an autonomous path-planning algorithm for exploring the environment with narrow passages, such as caves and mines, named Adaptive Target Guidance and Planning, using Tangent Intersection (ATGP-TI), which employs a tangent intersection technique and heuristics to determine optimal paths for Uncrewed Aerial Vehicles (UAVs). A temporary target guides the UAV along tangents to ellipses enclosing obstacles in an inclined plane spanning from the origin to the UAV’s range and the height of the environment, adjusting its flight path to circumvent obstacles until it reaches the end goal. The algorithm records a single collision-free path on the map, demonstrating robustness in both static and dynamic environments, particularly in navigating maze-like spaces. The simulations highlight the application of the algorithm in unknown environments, narrow passages, and GPS-denied areas, with a focus on 3D terrains like caves and mines.