Trajectory Planning of Tilt-Rotor UAV Based on Hybrid Algorithm

Tilt-rotor UAVs are exceptionally suitable for near-ground unmanned transportation and other fields because of their helicopter mode, transition mode and fixed-wing mode. However, the tilt-rotor transition on trajectory planning presents a challenge, as performance constraints of different modes must be considered and a trajectory planning algorithm is required to optimize a collision-free and short trajectory with low fuel consumption and small cost. To address these challenges, this paper adds performance constraints of the tilt-rotor UAV to the hybrid algorithm by combining the A* algorithm and the artificial potential field method; meanwhile, the rationality of trajectory planning is improved by setting the tilt-rotor transition region separately in the global. Simulation results show that a reasonable trajectory can be planned by setting the tilt-transition region by itself and using a hybrid algorithm.