Dynamic path planning based on improved boundary value problem for unmanned aerial vehicle
文献类型：期刊论文
| 作者 | Liang X(梁宵); Meng GL(孟光磊); Luo HT(骆海涛) ; Chen X(陈侠)
|
| 刊名 | Cluster Computing
 |
| 出版日期 | 2016 |
| 卷号 | 19期号:4页码:2087–2096 |
| 关键词 | Unmanned aerial vehicle (UAV) Dynamic path planning Boundary value problem (BVP) Potential field Complex environment |
| ISSN号 | 1386-7857 |
| 产权排序 | 2 |
| 通讯作者 | 梁宵 |
| 中文摘要 | 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. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Computer Science, Information Systems ; Computer Science, Theory & Methods |
| 研究领域[WOS] | Computer Science |
| 收录类别 | SCI ; EI |
| 语种 | 英语 |
| WOS记录号 | WOS:000388972000030 |
| 源URL | [http://ir.sia.cn/handle/173321/19235]  |
| 专题 | 沈阳自动化研究所_空间自动化技术研究室 |
| 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. |
入库方式： OAI收割
来源：沈阳自动化研究所
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