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题名: Dynamic path planning based on improved boundary value problem for unmanned aerial vehicle
作者: Liang X(梁宵); Meng GL(孟光磊); Luo HT(骆海涛); Chen X(陈侠)
作者部门: 空间自动化技术研究室
关键词: Unmanned aerial vehicle (UAV) ; Dynamic path planning ; Boundary value problem (BVP) ; Potential field ; Complex environment
刊名: Cluster Computing
ISSN号: 1386-7857
出版日期: 2016
页码: 1-10
收录类别: EI
产权排序: 2
项目资助者: National Natural Science Foundation of China under Grant 61503255 and Natural Science Foundation of Liaoning Province under Grant 2015020063.
摘要: When unmanned aerial vehicles (UAVs) track a moving target in complex environment, most path planning methods are difficult to combine real-time calculation and optimality. A real-time path planning method based on boundary value problem (BVP) is studied. First, a grid model of terrain is established based on UAV constraints. Then the structure of receding horizon planning ensures the real-time tracking to moving target, and the path is determined based on BVP in each horizon window. The sub-goal of horizon window is designed by line-of-sight, and the method of updating potential field dynamically and the calculation of flight direction are proposed. By comparison with other methods, the simulation results show that the method can ensure the path smooth and feasible. It can track the moving target in real-time and have some optimality, which is suitable for the mission of UAV to track moving target in complex environment.
语种: 英语
内容类型: 期刊论文
URI标识: http://ir.sia.cn/handle/173321/19235
Appears in Collections:空间自动化技术研究室_期刊论文

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Recommended Citation:
Liang X,Meng GL,Luo HT,et al. Dynamic path planning based on improved boundary value problem for unmanned aerial vehicle[J]. Cluster Computing,2016:1-10.
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