A geometrical path planning method for unmanned aerial vehicle in 2D/3D complex environment

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 空间自动化技术研究室

	A geometrical path planning method for unmanned aerial vehicle in 2D/3D complex environment
	Xu, Yimin 2; Liang X(梁宵)1; Luo HT(骆海涛)3 ; Meng GL(孟光磊)1
刊名	INTELLIGENT SERVICE ROBOTICS
	2018
卷号	11 期号:3 页码:301-312
关键词	Unmanned aerial vehicle (UAV) Path planning Geometrical shortest path 2D/3D complex environment Convex obstacles Optimal and real-time planning
ISSN号	1861-2776
产权排序	3
英文摘要	This paper presents a geometrical path planning method, and it can help unmanned aerial vehicle to find a collision-free path in two-dimensional and three-dimensional (2D and 3D) complex environment quickly. First, a list of tree is designed to describe obstacles, and it is used to query the obstacles which block the line from starting point to finishing point (blocking obstacle). Specially, the list also stores the edge information of blocking obstacle. For the obstacles with short distance, a reasonable way to fly over is studied. Then, a shortest path planning method based on geometrical computation is proposed according to different shapes of obstacles. The obstacles are convex and divided into two cases of 2D and 3D. 2D environment includes rectangular obstacle, trapezoidal obstacle, triangular obstacle, circular obstacle and elliptic obstacle. In 3D, it includes cuboid, sphere and ellipsoid. To compare with other methods, the simulation is made in different environments. In 2D environment with circular obstacles, the method is similar to the artificial potential field. In 2D environment with rectangular obstacles, the performance of the proposed method is better than A-star. Compared with genetic algorithm, the proposed method gives a better result in 3D environment with cuboid obstacles. In 3D environment with hybrid obstacles, it is similar to interfered fluid dynamical system. Through comprehensive comparison and analysis, the conclusion is that the method has good adaptability and does not require grid modeling. It can find a shorter path in 2D/3D complex environment within a short time, so it has the ability of real-time path planning.
资助项目	National Natural Science Foundation of China[61503255] ; National Natural Science Foundation of China[51505470] ; Aeronautical Science Foundation of China[2016ZC54011] ; Natural Science Foundation of Liaoning Province[2015020063] ; Youth Innovation Promotion Association (CAS)
WOS关键词	OBSTACLE AVOIDANCE ; TARGET TRACKING ; MOBILE ROBOT ; UNDERWATER VEHICLES ; GENETIC ALGORITHM ; SPACE ; OPTIMIZATION ; COLONY ; FLUID
WOS研究方向	Robotics
语种	英语
WOS记录号	WOS:000435825400007
资助机构	National Natural Science Foundation of China ; Aeronautical Science Foundation of China ; Natural Science Foundation of Liaoning Province ; Youth Innovation Promotion Association (CAS)
内容类型	期刊论文
源URL	[http://119.78.100.139/handle/173321/22134]
专题	沈阳自动化研究所_空间自动化技术研究室
通讯作者	Liang X(梁宵)
作者单位	1.School of Automation, Shenyang Aerospace University, South DaoYi Street No.37, ShenBei New District, Shenyang, Liaoning 110136, China 2.School of Automation, Northwestern Polytechnical University, Chang’an Campus of Northwest Polytechnical University, Dongxiang Street No.1, Chang’an District, Xi’an, Shanxi 710129, China 3.Shenyang Institute of Automation, Chinese Academy of Sciences, Nanta Street No.114, Shenhe District, Shenyang, Liaoning 110016, China
推荐引用方式 GB/T 7714	Xu, Yimin,Liang X,Luo HT,et al. A geometrical path planning method for unmanned aerial vehicle in 2D/3D complex environment[J]. INTELLIGENT SERVICE ROBOTICS,2018,11(3):301-312.
APA	Xu, Yimin,Liang X,Luo HT,&Meng GL.(2018).A geometrical path planning method for unmanned aerial vehicle in 2D/3D complex environment.INTELLIGENT SERVICE ROBOTICS,11(3),301-312.
MLA	Xu, Yimin,et al."A geometrical path planning method for unmanned aerial vehicle in 2D/3D complex environment".INTELLIGENT SERVICE ROBOTICS 11.3(2018):301-312.