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 A geometrical path planning method for unmanned aerial vehicle in 2D/3D complex environment Liang X(梁宵)1; Meng GL(孟光磊)1; Xu, Yimin2; Luo HT(骆海涛)3 作者部门 空间自动化技术研究室 发表期刊 INTELLIGENT SERVICE ROBOTICS ISSN 1861-2776 2018 卷号 11期号:3页码:301-312 收录类别 SCI ; EI EI收录号 20182605368099 WOS记录号 WOS:000435825400007 产权排序 3 资助机构 National Natural Science Foundation of China ; Aeronautical Science Foundation of China ; Natural Science Foundation of Liaoning Province ; Youth Innovation Promotion Association (CAS) 关键词 Unmanned aerial vehicle (UAV) Path planning Geometrical shortest path 2D/3D complex environment Convex obstacles Optimal and real-time planning 摘要 This paper presents a geometrical path planning method, and it can help unmanned aerial vehicle to find a collision-free path in two-dimensional and three-dimensional (2D and 3D) complex environment quickly. First, a list of tree is designed to describe obstacles, and it is used to query the obstacles which block the line from starting point to finishing point (blocking obstacle). Specially, the list also stores the edge information of blocking obstacle. For the obstacles with short distance, a reasonable way to fly over is studied. Then, a shortest path planning method based on geometrical computation is proposed according to different shapes of obstacles. The obstacles are convex and divided into two cases of 2D and 3D. 2D environment includes rectangular obstacle, trapezoidal obstacle, triangular obstacle, circular obstacle and elliptic obstacle. In 3D, it includes cuboid, sphere and ellipsoid. To compare with other methods, the simulation is made in different environments. In 2D environment with circular obstacles, the method is similar to the artificial potential field. In 2D environment with rectangular obstacles, the performance of the proposed method is better than A-star. Compared with genetic algorithm, the proposed method gives a better result in 3D environment with cuboid obstacles. In 3D environment with hybrid obstacles, it is similar to interfered fluid dynamical system. Through comprehensive comparison and analysis, the conclusion is that the method has good adaptability and does not require grid modeling. It can find a shorter path in 2D/3D complex environment within a short time, so it has the ability of real-time path planning. 语种 英语 WOS类目 Robotics 关键词[WOS] OBSTACLE AVOIDANCE ; TARGET TRACKING ; MOBILE ROBOT ; UNDERWATER VEHICLES ; GENETIC ALGORITHM ; SPACE ; OPTIMIZATION ; COLONY ; FLUID WOS研究方向 Robotics 资助项目 National Natural Science Foundation of China[61503255] ; National Natural Science Foundation of China[51505470] ; Aeronautical Science Foundation of China[2016ZC54011] ; Natural Science Foundation of Liaoning Province[2015020063] ; Youth Innovation Promotion Association (CAS) 引用统计 文献类型 期刊论文 条目标识符 http://ir.sia.cn/handle/173321/22134 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 110136, China2.School of Automation, Northwestern Polytechnical University, Chang’an Campus of Northwest Polytechnical University, Dongxiang Street No.1, Chang’an District, Xi’an, Shanxi 710129, China3.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,Xu, Yimin,et al. A geometrical path planning method for unmanned aerial vehicle in 2D/3D complex environment[J]. INTELLIGENT SERVICE ROBOTICS,2018,11(3):301-312. APA Liang X,Meng GL,Xu, Yimin,&Luo HT.(2018).A geometrical path planning method for unmanned aerial vehicle in 2D/3D complex environment.INTELLIGENT SERVICE ROBOTICS,11(3),301-312. MLA Liang X,et al."A geometrical path planning method for unmanned aerial vehicle in 2D/3D complex environment".INTELLIGENT SERVICE ROBOTICS 11.3(2018):301-312.
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