A global path planning method constrained by dynamics, kinematics, and terrain is proposed for Vertical Takeoff and Landing (VTOL) Unmanned Aerial Vehicles (UAVs). Firstly, new constant-altitude waypoints are interpolated above the terrain based on altitude information and terrain resolution. Account for the coverage of airborne sensors over the surface area, a horizontal waypoint interpolation optimization (HOPT) is performed at positions with excessive bending in the horizontal direction. Secondly, for vertical plane optimization (VOPT), i.e., height optimization, a Soft Actor-Critic-based Particle Swarm Optimization (SAC-PSO) is employed to optimize the convergence speed of the method and achieve terrain following (TF). Thirdly, to evaluate the generated paths, a deep residual network (DRSN) is designed to mitigate the impact of optimization failures during the iteration process and improve the stability of the algorithm. Simulation experiments demonstrate the efficiency and path quality of the proposed method, while real-world tasks validate its practicality.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    UAV Path Planning With Terrain Constraints for Aerial Scanning


    Beteiligte:
    Yuan, Jinbiao (Autor:in) / Liu, Zhenbao (Autor:in) / Xiong, Xiaoyu (Autor:in) / Ai, Yunfeng (Autor:in) / Chen, Long (Autor:in) / Tian, Bin (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    01.01.2024


    Format / Umfang :

    4020817 byte




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Path planning with variable-fidelity terrain assessment

    Stenning, Braden E. / Barfoot, Timothy D. | Tema Archiv | 2012


    Fast Path Planning for Fixed-Wing Unmanned Aerial Vehicle with Multiple Constraints

    Zhong, Gang / Mao, Yi / Zhang, Liandong et al. | Springer Verlag | 2022


    Fast Path Planning for Fixed-Wing Unmanned Aerial Vehicle with Multiple Constraints

    Zhong, Gang / Mao, Yi / Zhang, Liandong et al. | TIBKAT | 2023


    Optimized Path Planning for Inspection by Unmanned Aerial Vehicles Swarm with Energy Constraints

    Monwar, Momena / Semiari, Omid / Saad, Walid | ArXiv | 2018

    Freier Zugriff

    Aerial vehicle inspection path planning

    CLARK ROBERT PARKER | Europäisches Patentamt | 2020

    Freier Zugriff