An adaptive grid model based on mobility constraints for UAV path planning

The path planning method using intelligence optimization algorithm cannot meet the unmanned aerial vehicle (UAV) mobility constraints because of its spatial grid division. Besides, the path smoothing method of interpolation after path planning increases the amount and complexity of algorithm. Considering to solve UAV path planning smoothing problem in the process of scenario modelling, this paper proposed an adaptive grid model, which provide the sparsest grid division under the UAV mobility constraints. The simulation results implicate that the path using proposed model satisfies mobility constraints and decreases the computational complexity effectively in both 2-D and 3-D path planning.