3D environment modeling with height dimension reduction and path planning for UAV
文献类型：会议论文
| 作者 | Yang LY(杨丽英)2; Lv Z(吕哲)1,2; Han ZH(韩忠华)1,2; Liu Z(刘重)2; He YQ(何玉庆)2; Zhu F(朱枫) ; Hao YM(郝颖明); Fu SF(付双飞); Fan XP(范晓鹏); Wei JY(魏景阳)
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| 出版日期 | 2017 |
| 会议名称 | 9th International Conference on Modelling, Identification and Control, ICMIC 2017 |
| 会议日期 | July 10-12, 2017 |
| 会议地点 | Kunming, China |
| 关键词 | Environment modeling Path planning Grid method A* algorithm |
| 页码 | 734-739 |
| 通讯作者 | Lv Z(吕哲) |
| 中文摘要 | In this paper, an environment modeling method with height dimension reduction for unmanned aerial vehicle (UAV) path planning is presented. Based on the traditional grid method, a plane being vertical to yz-plane and including the start point and end point is considered in this method. Comparing the height of this plane and obstacles, the environment model could be set up through re-dividing the plane by grid method. Above idea reduces the dimension of the 3D environment model and ignores the obstacles which are lower than the flying height of UAV. In this way, the accuracy of the proposed environment model method could be increased, and the efficiency of the path planning algorithm could be ensured further. Simulation experiment shows the effectiveness of this environment modeling method by applying A algorithm for path planning. |
| 收录类别 | EI |
| 产权排序 | 1 |
| 会议录 | Proceedings of 2017 9th International Conference On Modelling, Identification and Control, ICMIC 2017
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-5090-6573-8 |
| 源URL | [http://ir.sia.cn/handle/173321/22413]  |
| 专题 | 沈阳自动化研究所_光电信息技术研究室 |
| 通讯作者 | Hao YM(郝颖明) |
| 作者单位 | 1.Faculty of Information and Control Engineering, Shenyang Jianzhu University, Shenyang 110168, China 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China |
| 推荐引用方式 GB/T 7714 | Yang LY,Lv Z,Han ZH,et al. 3D environment modeling with height dimension reduction and path planning for UAV[C]. 见:9th International Conference on Modelling, Identification and Control, ICMIC 2017. Kunming, China. July 10-12, 2017. |
入库方式： OAI收割
来源：沈阳自动化研究所
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