On-Line Path Planning for UAV in Dynamic Environment

被引：0

作者：

Liang, Xiao ^{[1
]}

Wang, Honglun ^{[1
]}

Cao, Menglei ^{[1
]}

Guo, Tengfei ^{[1
]}

机构：

[1] Beijing Univ Aeronaut & Astronaut, Sci & Technol Aircraft Control Lab, Beijing 100083, Peoples R China

来源：

PROCEEDINGS OF THE 2011 2ND INTERNATIONAL CONGRESS ON COMPUTER APPLICATIONS AND COMPUTATIONAL SCIENCE, VOL 1 | 2012年 / 144卷

关键词：

UAV; dynamic environment; autoregressive prediction; on-line path planning;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

Under the premise of predicting the dynamic obstacles, a UAV path planning strategy of variable rolling window combined with potential flows is proposed. By using an autoregressive model, the expression of prediction for dynamic obstacles between discrete sampling points is given. The rolling window is designed to a triangle., also with adaptive function based on speed and angle of incidence of the dynamic obstacles. Potential flows method is used in the rolling windows to plan the obstacle avoidance route. At last the whole route is smoothed to satisfy the UAV constraints of maximum turning angle. The problem solution implementation is described along with several simulation results demonstrating the effectiveness of the method.

引用

页码：9 / +

页数：3

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