Feature selection-based decision model for UAV path planning on rough terrains
文献类型：期刊论文
| 作者 | Ali, Hub5,6; Xiong, Gang4,6 ; Haider, Muhammad Husnain3; Tamir, Tariku Sinshaw5,6; Dong, Xisong1,6; Shen, Zhen1,2,6
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| 刊名 | EXPERT SYSTEMS WITH APPLICATIONS
 |
| 出版日期 | 2023-12-01 |
| 卷号 | 232页码:12 |
| 关键词 | Path planning Obstacle avoidance Unmanned Aerial Vehicle (UAV) Motion planning |
| ISSN号 | 0957-4174 |
| DOI | 10.1016/j.eswa.2023.120713 |
| 通讯作者 | Shen, Zhen(zhen.shen@ia.ac.cn) |
| 英文摘要 | Path planning and obstacle avoidance in 3D terrain have been identified as a monumental challenge for a UAV in a variety of autonomous missions, such as disaster management, and search and rescue operations. In large terrain areas, it is a key problem for traditional approaches to search within the point-cloud maps to find a global path for a UAV considering the flight safety, maneuverability, weather constraints, and fuel cost. Hence, this paper proposes a trajectory planning technique for global and local path planning of a fixed-wing UAV above 3D terrain under static and dynamic constraints. For global path generation, a novel feature selection-based decision model has been proposed to select the features of a point-cloud map and transform them into the feature set. The feature set is utilized by an A* multi-directional planner with an extensive search area to deliver an optimal global path. The global path is assumed as the UAV's reference waypoints. The motion of the UAV on reference waypoints is simplified with two coordinates (R, d), where R is the cumulative distance covered by the UAV along the reference waypoints and d is its offset distance from the reference line segment in time t. For the local path planning, offset trajectories are generated along with reference waypoints to avoid collisions. Cost functions have been added so that the best global and local path can be chosen, taking into account altitude, weather, and fuel constraints. The simulation results and comparison show that the proposed approach outperforms various other 3D UAV path planning techniques in complex terrain. |
| WOS关键词 | ROBOTS ; SYSTEM |
| 资助项目 | National Natural Science Foundation of China[U1909204] ; National Natural Science Foundation of China[2021B1515140034] ; Guangdong Research Foundation[RITS2021KF03] ; China Academy of Railway Sciences Corporation Limited Project[20211600200022] ; Guangdong Basic and Applied Basic Research Foundation[RITS2021KF03] ; CAS STS Dongguan Joint Project[20201600200072] ; [U19B2029] |
| WOS研究方向 | Computer Science ; Engineering ; Operations Research & Management Science |
| 语种 | 英语 |
| WOS记录号 | WOS:001056333800001 |
| 出版者 | PERGAMON-ELSEVIER SCIENCE LTD |
| 资助机构 | National Natural Science Foundation of China ; Guangdong Research Foundation ; China Academy of Railway Sciences Corporation Limited Project ; Guangdong Basic and Applied Basic Research Foundation ; CAS STS Dongguan Joint Project |
| 源URL | [http://ir.ia.ac.cn/handle/173211/54101]  |
| 专题 | 多模态人工智能系统全国重点实验室 |
| 通讯作者 | Shen, Zhen |
| 作者单位 | 1.Qingdao Acad Intelligent Ind, Qingdao 266109, Peoples R China 2.Chinese Acad Sci, Inst Automat, 95 Zhongguancun E Rd, Beijing 100190, Peoples R China 3.Univ Elect Sci & Technol China UESTC, Sch Mech & Elect Engn, Chengdu 610054, Peoples R China 4.Chinese Acad Sci, Guangdong Engn Res Ctr 3D Printing & Intelligent M, Cloud Comp Ctr, Dongguan 523808, Peoples R China 5.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 6.Chinese Acad Sci, Inst Automat, Beijing Engn Res Ctr Intelligent Syst & Technol, State Key Lab Multimodal Artificial Intelligence S, Beijing 100190, Peoples R China |
| 推荐引用方式 GB/T 7714 | Ali, Hub,Xiong, Gang,Haider, Muhammad Husnain,et al. Feature selection-based decision model for UAV path planning on rough terrains[J]. EXPERT SYSTEMS WITH APPLICATIONS,2023,232:12. |
| APA | Ali, Hub,Xiong, Gang,Haider, Muhammad Husnain,Tamir, Tariku Sinshaw,Dong, Xisong,&Shen, Zhen.(2023).Feature selection-based decision model for UAV path planning on rough terrains.EXPERT SYSTEMS WITH APPLICATIONS,232,12. |
| MLA | Ali, Hub,et al."Feature selection-based decision model for UAV path planning on rough terrains".EXPERT SYSTEMS WITH APPLICATIONS 232(2023):12. |
入库方式： OAI收割
来源：自动化研究所
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