App. Res. of Comp. Accepted Paper
Vol. 43, 2026 No. 9

Adaptive safe trajectory planning for under-canopy UAV monitoring

Zhang Wanjun
Song Wenlong
Liang Ye
Mo Chong
Zhang Jiawei
Huang Jianping
School of Computer and Control Engineering, Northeast Forestry University, Harbin 150040, China
DOI: 10.19734/j.issn.1001-3695.2026.01.0015

Abstract

To satisfy the requirements for safe and smooth trajectory planning of forestry monitoring drones in under-canopy forest data collection, this paper proposes a hierarchical speed-adaptive B-spline trajectory planning algorithm. Firstly, the algorithm uses B-spline curves to parameterize trajectories and ensures trajectory continuity. It optimizes the acceleration penalty term associated with obstacle distances at B-spline nodes to significantly improve trajectory smoothness. Then, after searching for the shortest safe path in the front end, the algorithm performs variable-step goal expansion based on a comprehensive risk weight constructed from distance and velocity direction to regulate speed preliminarily. In the back end, the algorithm optimizes B-spline node velocities with the velocity penalty term to realize speed adaptation and enhance trajectory safety. Finally, this paper constructs a customized AirSim forest simulation environment and verifies the algorithm through simulation. The results demonstrate that the proposed algorithm achieves speed adaptation while maintaining high smoothness. It provides the shortest flight path and favorable overall flight time, and enables safe traversal through dense forests even after increasing the maximum flight speed, thus exhibiting excellent flight performance and robustness.

Foundation Support

国家自然科学基金青年科学基金项目(62403118)
中央高校基本科研业务费专项资金资助(2572024BR24)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2026.01.0015
Publish at: Application Research of Computers Accepted Paper, Vol. 43, 2026 No. 9

Publish History

[2026-05-22] Accepted Paper

Cite This Article

张万军, 宋文龙, 梁野, 等. 面向林下环境监测的无人机自适应安全轨迹规划 [J]. 计算机应用研究, 2026, 43 (9). (2026-06-02). https://doi.org/10.19734/j.issn.1001-3695.2026.01.0015. (Zhang Wanjun, Song Wenlong, Liang Ye, et al. Adaptive safe trajectory planning for under-canopy UAV monitoring [J]. Application Research of Computers, 2026, 43 (9). (2026-06-02). https://doi.org/10.19734/j.issn.1001-3695.2026.01.0015. )

About the Journal

  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

Application Research of Computers has many high-level readers and authors, and its readers are mainly senior and middle-level researchers and engineers engaged in the field of computer science, as well as teachers and students majoring in computer science and related majors in colleges and universities. Over the years, the total citation frequency and Web download rate of Application Research of Computers have been ranked among the top of similar academic journals in this discipline, and the academic papers published are highly popular among the readers for their novelty, academics, foresight, orientation and practicality.

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