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Dynamic path planning based on improved boundary value problem for unmanned aerial vehicle
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
发表期刊Cluster Computing
ISSN1386-7857
2016
卷号19期号:4页码:2087–2096
收录类别SCI ; EI
EI收录号20164002858875
WOS记录号WOS:000388972000030
产权排序2
资助机构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
WOS标题词Science & Technology ; Technology
WOS类目Computer Science, Information Systems ; Computer Science, Theory & Methods
WOS研究方向Computer Science
引用统计
被引频次:2[WOS]   [WOS记录]     [WOS相关记录]
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/19235
专题空间自动化技术研究室
通讯作者Liang X(梁宵)
作者单位1.School of Automation, Shenyang Aerospace University, South DaoYi Street No.37, ShenBei New District, Shenyang, Liaoning, 10136, China
2.Shenyang Institute of Automation, Chinese Academy of Sciences, Nanta Street No.114, Shenhe District, Shenyang, Liaoning, 110016, China
推荐引用方式
GB/T 7714
Liang X,Meng GL,Luo HT,et al. Dynamic path planning based on improved boundary value problem for unmanned aerial vehicle[J]. Cluster Computing,2016,19(4):2087–2096.
APA Liang X,Meng GL,Luo HT,&Chen X.(2016).Dynamic path planning based on improved boundary value problem for unmanned aerial vehicle.Cluster Computing,19(4),2087–2096.
MLA Liang X,et al."Dynamic path planning based on improved boundary value problem for unmanned aerial vehicle".Cluster Computing 19.4(2016):2087–2096.
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