This paper presents an effective method for unmanned aerial vehicle (UAV) dynamic path planning considering moving-target and obstacle-avoidance constraints. In the process of dynamic path planning, moving-target positions are predicted using Kalman filtering algorithm on the receding horizon. Then, anytime repairing sparse A* algorithm (AR-SAS) is customized to generate feasible paths from the staring positions to the moving-target positions. By rolling planning, UAVs are able to track the moving targets efficiently. Simulation results demonstrate that the proposed method can generate feasible paths within limited time and has high robustness.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    UAV Dynamic Path Planning using Anytime Repairing Sparse A* Algorithm and Targets Motion Estimation (IEEE/CSAA GNCC)*


    Beteiligte:
    Zhang, Zhexuan (Autor:in) / Long, Teng (Autor:in) / Wang, Zhu (Autor:in) / Xu, Guangtong (Autor:in) / Cao, Yan (Autor:in)


    Erscheinungsdatum :

    2018-08-01


    Format / Umfang :

    3065679 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    RRT*-based Threat-Avoidance Trajectory Planning for Aircrafts (IEEE/CSAA GNCC)*

    Wei, Zhao / Liu, Li / Long, Teng et al. | IEEE | 2018


    IEEE/CSAA AUS 2016 : 2016 IEEE/CSAA International Conference on Aircraft Utility Systems : October 10-12, 2016, Beijing, China

    IEEE/CSAA International Conference on Aircraft Utility Systems / Institute of Electrical and Electronics Engineers / Zhongguo-Hangkong-Xuehui | TIBKAT | 2016


    Research on Drogue Detection Algorithm for Aerial Refueling (IEEE/CSAA GNCC)*

    Chen, A.Guanyu / Wang, B. Xinhua / Yang, C. Tiankai et al. | IEEE | 2018


    2018 IEEE CSAA Guidance, Navigation and Control Conference (CGNCC)

    IEEE CSAA Guidance, Navigation and Control Conference / Institute of Electrical and Electronics Engineers / Zhongguo-Hangkong-Xuehui | TIBKAT | 2018