Three-dimensional path planning for unmanned aerial vehicle based on linear programming
文献类型：期刊论文
| 作者 | Chen Y(陈洋); Han JD(韩建达) ; Zhao XG(赵新刚)
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| 刊名 | ROBOTICA
 |
| 出版日期 | 2012 |
| 卷号 | 30期号:5页码:773–781 |
| 关键词 | Path planning in three dimensions Obstacle avoidance Target pursuit Uncertain environment |
| ISSN号 | 0263-5747 |
| 产权排序 | 1 |
| 通讯作者 | 韩建达 |
| 中文摘要 | In this paper, an approach based on linear programming (LP) is proposed for path planning in three-dimensional space, in which an aerial vehicle is requested to pursue a target while avoiding static or dynamic obstacles. This problem is very meaningful for many aerial robots, such as unmanned aerial vehicles. First, the tasks of target-pursuit and obstacle-avoidance are modelled with linear constraints in relative coordination according to LP formulation. Then, two weighted cost functions, representing the optimal velocity resolution, are integrated into the final objective function. This resolution, defined to achieve the optimal velocity, deals with the optimization of a pair of orthogonal vectors. Some constraints, such as boundaries of the vehicle velocity, acceleration, sensor range, and flying height, are considered in this method. A number of simulations, under static and dynamic environments, are carried out to validate the performance of generating optimal trajectory in real time. Compared with ant colony optimization algorithm and genetic algorithm, our method has less parameters to tune and can achieve better performance in real-time application. In this paper, an approach based on linear programming (LP) is proposed for path planning in three-dimensional space, in which an aerial vehicle is requested to pursue a target while avoiding static or dynamic obstacles. This problem is very meaningful for many aerial robots, such as unmanned aerial vehicles. First, the tasks of target-pursuit and obstacle-avoidance are modelled with linear constraints in relative coordination according to LP formulation. Then, two weighted cost functions, representing the optimal velocity resolution, are integrated into the final objective function. This resolution, defined to achieve the optimal velocity, deals with the optimization of a pair of orthogonal vectors. Some constraints, such as boundaries of the vehicle velocity, acceleration, sensor range, and flying height, are considered in this method. A number of simulations, under static and dynamic environments, are carried out to validate the performance of generating optimal trajectory in real time. Compared with ant colony optimization algorithm and genetic algorithm, our method has less parameters to tune and can achieve better performance in real-time application. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Robotics |
| 研究领域[WOS] | Robotics |
| 关键词[WOS] | OPTIMIZATION ; OBSTACLES |
| 收录类别 | SCI ; EI |
| 语种 | 英语 |
| WOS记录号 | WOS:000307192900007 |
| 公开日期 | 2012-05-29 |
| 源URL | [http://ir.sia.cn/handle/173321/7413]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Chen Y,Han JD,Zhao XG. Three-dimensional path planning for unmanned aerial vehicle based on linear programming[J]. ROBOTICA,2012,30(5):773–781. |
| APA | Chen Y,Han JD,&Zhao XG.(2012).Three-dimensional path planning for unmanned aerial vehicle based on linear programming.ROBOTICA,30(5),773–781. |
| MLA | Chen Y,et al."Three-dimensional path planning for unmanned aerial vehicle based on linear programming".ROBOTICA 30.5(2012):773–781. |
入库方式： OAI收割
来源：沈阳自动化研究所
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