Control and Active and Safety Path Planning of Land-Air Amphibious Unmanned Platform

With the rapid development of unmanned aerial and ground vehicle technology, human beings are no longer satisfied with their single function of flying in the air or traveling on the ground. The use of more flexible and specialized environments for land-air-amphibious unmanned platforms has begun to be proposed. However, due to the complexity of spatial obstacle types in unstructured environments, the path planning of the platform is often caught in the target unreachable state, which will generate ground collisions or air accidents. So the platform with accurate and reliable active safety planning is the foundation and essential guarantee to accomplish tasks. In this paper, we based on the hybrid A* algorithm combined with the platform dynamics, the safety distance model of the land-air unmanned platform is established, and an active safety planning algorithm with a comprehensive cost function is proposed to include the two modes of land-air, which can judge the environment and choose the appropriate planning method to guide the land-air amphibious platform to avoid obstacle when it is caught in the local minima region. Finally, the proposed method is verified by a simulation, and the results show that this method takes safety anti-collision measures actively when the platform is caught in the local path planning without a solution to ensure the safety of the platform.