This paper presents a path planning algorithm named APF-IRP, which can be applied in complex dynamic environment for Unmanned Aerial Vehicles (UAVs). As is known to all, it is difficult for UAVs to have a clear understanding of the global environmental information before taking off. So the concept of rolling window is introduced to detect the dynamic and static obstacles within a certain range by radars on a real-time basis. The APF-IRP algorithm is a conjunction of Artificial Potential Field (APF) and improved Rolling Plan (RP). It compromises the merits of APF and RP: A collision-free path can be planned without the local-minima problem; the path is smooth and can rapidly converge to the target point; the performance constraints of UAVs are also taken into consideration.


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    Titel :

    Dynamic obstacle avoidance path planning of UAVs


    Beteiligte:
    Qian, Xue (Autor:in) / Peng, Cheng (Autor:in) / Nong, Cheng (Autor:in) / Xiang, Zou (Autor:in)


    Erscheinungsdatum :

    2015-07-01


    Format / Umfang :

    351765 byte





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch