Trajectory Planning Algorithm of UAV Based on System Positioning Accuracy Constraints

Abstract

This paper describes a novel trajectory planning algorithm for an unmanned aerial vehicle (UAV) under the constraints of system positioning accuracy. Due to the limitation of the system structure, a UAV cannot accurately locate itself. Once the positioning error accumulates to a certain degree, the mission may fail. This method focuses on correcting the error during the flight process of a UAV. The improved genetic algorithm (GA) and A* algorithm are used in trajectory planning to ensure the UAV has the shortest trajectory length from the starting point to the ending point under multiple constraints and the least number of error corrections.