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Alternative TitleDynamic path planning of multi-rotor unmanned aerial vehicle in indoor complex environment
韩忠华1,4; 毕开元1,2,3; 杨丽英2,3; 吕哲1
Source Publication中国惯性技术学报
Volume27Issue:3Pages:366-372, 377
Indexed ByEI ; CSCD
EI Accession number20193807445250
Contribution Rank1
Funding Organization国家重点研发计划课题(2017YFD0701002) ; 国家自然科学基金(61503369)
Keyword环境建模 无人机路径规划 无记忆回归A*算法 无记忆A*算法


Other Abstract

Aiming at the dynamic path planning problem of multi-rotor UAV in indoor complex environment, a memoryless regression A木algorithm based on high-dimensionality—reduced space environment model is proposed. Firstly, a high—dimensionality—reduced space environment modeling method is proposed,in which the three—dimensional space is reduced to two dimensions. In this way, the complexity of environment model is decreased,and the programming efficiency is improved. On the basis of completing the modeling of environment,a method of local dynamic search based on the results of global path planning is proposed,a memoryless regression A4 algorithm for local dynamic programming is designed,and the traditional A术 algorithm is used to perform global path planning. Then,referring to the results of global programming,the memoryless regression A8 algorithm is employed to avoid dynamic obstacles in the flight process. After the avoidance,UAV returns to the global planning path. Finally, simulation experiments verify the validity of the proposed method. The simulation results show that the path planning time and path planning length of the proposed method are both shorter than those of the memoryless A8 algorithm in the specified environment, and the two indicators are improved by 13.8%and 41.6%, respectively.

Citation statistics
Cited Times:2[CSCD]   [CSCD Record]
Document Type期刊论文
Corresponding Author韩忠华
Recommended Citation
GB/T 7714
韩忠华,毕开元,杨丽英,等. 室内复杂环境下多旋翼无人机动态路径规划[J]. 中国惯性技术学报,2019,27(3):366-372, 377.
APA 韩忠华,毕开元,杨丽英,&吕哲.(2019).室内复杂环境下多旋翼无人机动态路径规划.中国惯性技术学报,27(3),366-372, 377.
MLA 韩忠华,et al."室内复杂环境下多旋翼无人机动态路径规划".中国惯性技术学报 27.3(2019):366-372, 377.
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