Real-Time Dynamic Path Planning for UAVs in Cluttered Unknown Environments

This thesis addresses the challenge of enabling drones to navigate cluttered, unknown environments. It introduces lightweight and high-throughput planning techniques that achieve real-time obstacle avoidance and efficient flight. Simulations demonstrate up to 44.7 % shorter routes and 70 % faster replanning. These advances underpin safer, more efficient autonomous missions—such as bridge inspection, indoor surveying, and urban deliveries.