This paper addresses the safety hazards present in the JPS path planning algorithm during actual operations, proposing an improved JPS planning algorithm based on path safety inflation. Firstly, the paper processes the map's obstacles with boundary inflation to reduce the probability of obstacle collision, thereby enhancing the feasibility and safety of the planned path. Secondly, considering the physical properties of drones and the feasible space of the environment in reality, this paper controls the degree of obstacle boundary inflation further by adjusting the inflation coefficient. Lastly, the paper validates the proposed algorithm through simulation experiments, with the results indicating a significant improvement in the feasibility of the drone reaching its destination amidst obstacle inflation.

Zirong Lin. Path Safety Inflation Planning Algorithm Based on Improved JPS. The Frontiers of Society, Science and Technology (2024), Vol. 6, Issue 4: 48-53. https://doi.org/10.25236/FSST.2024.060407.

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