Highlights A two-stage control network approach for trajectory planning in large-scale complicated urban environment. Discrete control network for minimum-time path finding considering collision avoidance and kinetic properties. Both virtual and real-world urban maps are created to evaluate trajectory planning frameworks.
Abstract Trajectory planning is crucial for Unmanned Aerial Vehicles (UAVs) applications. It is still a challenge to plan UAV trajectories in large-scale complicated three-dimensional urban environments, mainly due to the complexities associated with handling a tremendous number of obstacles. To relieve this difficulty, this study proposes a two-stage control network approach. The first stage is an offline planning stage, aiming at constructing a discrete control network in the working environment achieving collision avoidance and meanwhile considering UAV kinetic properties. The second stage is an online planning stage, where a feasible corridor is generated based on the shortest path in the control network, and the obtained route is smoothed by a three-dimensional Dubins curve algorithm; then, a time-optimal trajectory generation algorithm is applied to trace the designed spatial path. Numerical studies based on a virtual city as well as a large-scale real-world urban area are conducted. The results show that the proposed approach is able to identify reasonable UAV trajectories within negligible computational time.
Trajectory planning for unmanned aerial vehicles in complicated urban environments: A control network approach
2021-04-02
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch
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