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.


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    Titel :

    Trajectory planning for unmanned aerial vehicles in complicated urban environments: A control network approach


    Beteiligte:
    Lin, Xi (Autor:in) / Wang, Chengzhang (Autor:in) / Wang, Kaiping (Autor:in) / Li, Meng (Autor:in) / Yu, Xiangqian (Autor:in)


    Erscheinungsdatum :

    2021-04-02




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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