Abstract
The quadrotor is an extensively researched and popular unmanned aerial vehicle in various fields, with navigation being one of the most widely studied areas. This paper focuses on setting the path for the quadrotor to move in a predefined 3D map environment. A real-time mathematical model for the quadrotor’s motion was developed, incorporating the moment of resistance and the rotor rolling coefficient using improved Lagrange dynamic modeling. Two navigation scenarios were then built using Dijkstra and A star (A*) algorithms to evaluate the efficiency of the mathematical model based on criteria such as distance, time, and speed. The results indicate that Dijkstra’s algorithm resulted in a 0.55% shorter travel distance for the quadrotor than the A* algorithm, while the quadrotor’s flight time of the A* algorithm is 0.52% longer. However, the maximum speed of the quadrotor guided by the A* algorithm is 7.87% higher than that of Dijkstra’s algorithm. These findings provide a basis for developing an optimal navigation strategy for the quadrotor to meet specific requirements.