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UAV Path Planning With Terrain Constraints for Aerial Scanning

文献类型：期刊论文

作者Yuan, Jinbiao1; Liu, Zhenbao2; Xiong, Xiaoyu3,4; Ai, Yunfeng3; Chen, Long5; Tian, Bin5,6
刊名IEEE TRANSACTIONS ON INTELLIGENT VEHICLES
出版日期2024
卷号9期号:1页码:1189-1203
关键词Autonomous aerial vehicles Optimization Task analysis Path planning Turning Kinematics Trajectory UAV DRSN SAC-PSO path planning terrain following
ISSN号2379-8858
DOI10.1109/TIV.2023.3307217
通讯作者Tian, Bin(bin.tian@ia.ac.cn)
英文摘要A global path planning method constrained by dynamics, kinematics, and terrain is proposed for Vertical Takeoff and Landing (VTOL) Unmanned Aerial Vehicles (UAVs). Firstly, new constant-altitude waypoints are interpolated above the terrain based on altitude information and terrain resolution. Account for the coverage of airborne sensors over the surface area, a horizontal waypoint interpolation optimization (HOPT) is performed at positions with excessive bending in the horizontal direction. Secondly, for vertical plane optimization (VOPT), i.e., height optimization, a Soft Actor-Critic-based Particle Swarm Optimization (SAC-PSO) is employed to optimize the convergence speed of the method and achieve terrain following (TF). Thirdly, to evaluate the generated paths, a deep residual network (DRSN) is designed to mitigate the impact of optimization failures during the iteration process and improve the stability of the algorithm. Simulation experiments demonstrate the efficiency and path quality of the proposed method, while real-world tasks validate its practicality.
WOS关键词SAFE TRAJECTORY GENERATION ; VEHICLES ; ENVIRONMENTS
资助项目National Natural Science Foundation Fund[52072309] ; Key Research and Development Program of Shaanxi Program[2019ZDLGY14-02-01] ; Shenzhen Fundamental Research Program[JCYJ20190806152203506] ; Aeronautical Science Foundation of China[ASFC-2018ZC53026] ; Key-Area Research and Development Program of Guangdong Province[2020B0909050001] ; Key-Area Research and Development Program of Guangdong Province[2020B090921003] ; Natural Science Foundation of Hebei Province[2021402011] ; National Key Research and Development Program of China[2022YFB4703700]
WOS研究方向Computer Science ; Engineering ; Transportation
语种英语
WOS记录号WOS:001173317800104
出版者IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
资助机构National Natural Science Foundation Fund ; Key Research and Development Program of Shaanxi Program ; Shenzhen Fundamental Research Program ; Aeronautical Science Foundation of China ; Key-Area Research and Development Program of Guangdong Province ; Natural Science Foundation of Hebei Province ; National Key Research and Development Program of China
源URL[http://ir.ia.ac.cn/handle/173211/58767]  
专题自动化研究所_复杂系统管理与控制国家重点实验室_先进控制与自动化团队
通讯作者Tian, Bin
作者单位1.Polytech Univ, Sch Northwestern, Xian 710072, Peoples R China
2.Northwestern Polytech Univ, Res & Dev Inst Shenzhen, Sch Civil Aviat, Xian 710072, Peoples R China
3.Univ Chinese Acad Sci, Dept Artificial Intelligence, Beijing 100049, Peoples R China
4.Waytous Inc, Qingdao 266109, Peoples R China
5.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100190, Peoples R China
6.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100190, Peoples R China
推荐引用方式
GB/T 7714		 Yuan, Jinbiao,Liu, Zhenbao,Xiong, Xiaoyu,et al. UAV Path Planning With Terrain Constraints for Aerial Scanning[J]. IEEE TRANSACTIONS ON INTELLIGENT VEHICLES,2024,9(1):1189-1203.
APA Yuan, Jinbiao,Liu, Zhenbao,Xiong, Xiaoyu,Ai, Yunfeng,Chen, Long,&Tian, Bin.(2024).UAV Path Planning With Terrain Constraints for Aerial Scanning.IEEE TRANSACTIONS ON INTELLIGENT VEHICLES,9(1),1189-1203.
MLA Yuan, Jinbiao,et al."UAV Path Planning With Terrain Constraints for Aerial Scanning".IEEE TRANSACTIONS ON INTELLIGENT VEHICLES 9.1(2024):1189-1203.

入库方式： OAI收割

来源：自动化研究所

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