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Dynamic path planning based on improved boundary value problem for unmanned aerial vehicle
Liang X(梁宵); Meng GL(孟光磊); Luo HT(骆海涛); Chen X(陈侠)
Department空间自动化技术研究室
Source PublicationCluster Computing
ISSN1386-7857
2016
Volume19Issue:4Pages:2087–2096
Indexed BySCI ; EI
EI Accession number20164002858875
WOS IDWOS:000388972000030
Contribution Rank2
Funding OrganizationNational Natural Science Foundation of China under Grant 61503255 and Natural Science Foundation of Liaoning Province under Grant 2015020063.
KeywordUnmanned Aerial Vehicle (Uav) Dynamic Path Planning Boundary Value Problem (Bvp) Potential Field Complex Environment
AbstractWhen 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.
Language英语
WOS HeadingsScience & Technology ; Technology
WOS SubjectComputer Science, Information Systems ; Computer Science, Theory & Methods
WOS Research AreaComputer Science
Citation statistics
Cited Times:2[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/19235
Collection空间自动化技术研究室
Corresponding AuthorLiang X(梁宵)
Affiliation1.School of Automation, Shenyang Aerospace University, South DaoYi Street No.37, ShenBei New District, Shenyang, Liaoning, 10136, China
2.Shenyang Institute of Automation, Chinese Academy of Sciences, Nanta Street No.114, Shenhe District, Shenyang, Liaoning, 110016, China
Recommended Citation
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.
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