In this paper, a three-dimensional path planning problem of an unmanned aerial vehicle under constant thrust is studied based on the artificial fluid method. The effect of obstacles on the original fluid field is quantified by the perturbation matrix, the streamlines can be regarded as the planned path for the unmanned aerial vehicle, and the tangential vector and the disturbance matrix of the artificial fluid method are improved. In particular, this paper addresses a novel algorithm of constant thrust fitting which is proposed through the impulse compensation, and then the constant thrust switching control scheme based on the isochronous interpolation method is given. It is proved that the planned path can avoid all obstacles smoothly and swiftly and reach the destination eventually. Simulation results demonstrate the effectiveness of this method.

中文翻译：

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基于人工流体方法的恒推力无人机三维路径规划

本文基于人工流体方法研究了无人飞行器恒推力下的三维路径规划问题。通过扰动矩阵量化了障碍物对原始流场的影响，可以将流线视为无人机的计划路径，并改进了人工流体方法的切向矢量和扰动矩阵。特别地，本文提出了一种通过脉冲补偿提出的恒推力拟合新算法，然后给出了基于等时插值法的恒推力切换控制方案。实践证明，规划路径可以顺利，迅速地避开所有障碍物，并最终到达目的地。仿真结果证明了该方法的有效性。