Abstract
With the rise and development of autonomy and intelligence technologies, UAVs will have increasingly significant applications in the future. It is very important to solve the problem of low-altitude penetration of UAVs to protect national territorial security. Based on an S-57 electronic chart file, the land, island, and threat information for an actual combat environment is parsed, extracted, and rasterized to construct a marine combat environment for UAV flight simulation. To address the problem of path planning for low-altitude penetration in complex environments, a photosensitivity-enhanced plant growth algorithm (PEPG) is proposed. Based on the plant growth path planning algorithm (PGPP), the proposed algorithm improves upon the light intensity preprocessing and light intensity calculation methods. Moreover, the kinematic constraints of the UAV, such as the turning angle, are also considered. The planned path that meets the safety flight requirements of the UAV is smoother than that of the original algorithm, and the length is reduced by at least 8.2%. Finally, simulation tests are carried out with three common path planning algorithms, namely, A*, RRT, and GA. The results show that the PEPG algorithm is superior to the other three algorithms in terms of the path length and path quality, and the feasibility and safety of the path are verified via the autonomous tracking flight of a UAV.