Fig 1.
Flowchart for UAV trajectory planning.
Fig 2.
Schematic diagram of 3D velocity collision cone.
Fig 3.
Schematic diagram of UAV’s VOSC.
Fig 4.
Spherical Crown enlarged image.
Fig 5.
Schematic diagram of the minimum and maximum turning angles of .
Fig 6.
VOSC vector diagram.
Fig 7.
Schematic diagram of VOSC for a single obstacle.
Fig 8.
Schematic diagram of VOSC with multiple obstacles.
Fig 9.
Single dynamic obstacle simulation environment.
Table 1.
Trajectory related information in Experiment 1.
Fig 10.
UAV trajectory diagram for simulation experiment 1.
Fig 11.
Velocity transformation curve of the UAV when avoiding dynamic obstacles.
Table 2.
Parameters related to dynamic obstacles.
Fig 12.
Initial environment for multi-dynamic obstacles.
Fig 13.
UAV trajectory in a multi-dynamic obstacle environment.
Table 3.
Performance vs. number of moving obstacles.
Fig 14.
Drone trajectory map under 8 moving obstacles.