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Design of UAV's Safe Obstacle Avoidance Trajectory Based on Point Cloud

The UAV has the various merits of high maneuverability, low cost, and no risk of casualties, therefore it has a wide range of applications in military and civilian fields. However, the autonomous obstacle avoidance technology of UAVs is not yet mature, and UAVs can only fly remotely within the visual range of personnel in the power transmission line inspection environment. This paper focuses on the three-dimensional environment perception and obstacle avoidance of UAVs in the environment of transmission lines and studies the autonomous sensing and obstacle avoidance methods of UAVs based on the point cloud. Meanwhile, the trajectory planning algorithm and UAV path tracking control method under the power transmission line is researched as well, and the autonomous navigation, guidance, and obstacle avoidance control of UAV are finally realized.