SIA OpenIR  > 空间自动化技术研究室
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
关键词Unmanned aerial vehicle (UAV) Path planning Geometrical shortest path 2D/3D complex environment Convex obstacles Optimal and real-time planning
发表期刊INTELLIGENT SERVICE ROBOTICS
ISSN1861-2776
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)
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, China
2.School of Automation, Northwestern Polytechnical University, Chang’an Campus of Northwest Polytechnical University, Dongxiang Street No.1, Chang’an District, Xi’an, Shanxi 710129, China
3.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.
条目包含的文件 下载所有文件
文件名称/大小 文献类型 版本类型 开放类型 使用许可
A geometrical path p(1948KB)期刊论文出版稿开放获取CC BY-NC-SA浏览 下载
个性服务
推荐该条目
保存到收藏夹
查看访问统计
导出为Endnote文件
谷歌学术
谷歌学术中相似的文章
[Liang X(梁宵)]的文章
[Meng GL(孟光磊)]的文章
[Xu, Yimin]的文章
百度学术
百度学术中相似的文章
[Liang X(梁宵)]的文章
[Meng GL(孟光磊)]的文章
[Xu, Yimin]的文章
必应学术
必应学术中相似的文章
[Liang X(梁宵)]的文章
[Meng GL(孟光磊)]的文章
[Xu, Yimin]的文章
相关权益政策
暂无数据
收藏/分享
文件名: A geometrical path planning method for unmanned aerial vehicle in 2D 3D complex environment.pdf
格式: Adobe PDF
所有评论 (0)
暂无评论
 

除非特别说明,本系统中所有内容都受版权保护,并保留所有权利。