Obstacle Avoidance Path Planning for UAV Applied to Photovoltaic Stations Based on Improved Dynamic Window Method

In order to solve the problem of obstacle avoidance and low endurance of UAV autonomous flight in column obstacle scenes such as transmission towers, this paper improves and integrates the path planning algorithm to achieve efficient and accurate path planning in unstructured and unknown dynamic environments in column scenes. An improved DWA algorithm is proposed to improve the obstacle avoidance effect by adaptively improving the evaluation function and increasing the relevant evaluation function. At the same time, a hybrid path planning method in the obstacle scene of the UAV column is proposed. Firstly, the improved A* algorithm is used for global optimal planning. The UAV moves along the global optimal path, performs local dynamic perception at the same time, and calls the improved DWA algorithm to complete real-time obstacle avoidance and local replanning. Finally, the effectiveness and applicability of the improved DWA algorithm are verified by designing simulation experiments in different scenarios. The improved DWA algorithm is superior to the traditional DWA algorithm in terms of path length, running time, minimum safe distance, and number of iterations. The path length is reduced by 23.92%, the running time is reduced by 33.23%, and the number of iterations is reduced by 22.57% in the complex environment. At the same time, the simulation experiment of unknown obstacle avoidance for a photovoltaic scene in the area of transmission tower erection and the simulation experiment of path planning for UAV column obstacle scene in ROS environment are completed, which verifies that the hybrid algorithm has good robustness and environmental adaptability.