Precise trajectory planning is crucial in terms of enabling unmanned aerial vehicles (UAVs) to execute interference avoidance and target capture actions in unknown environments and when facing intermittent target loss. To address the trajectory planning problem of UAVs in such conditions, this paper proposes a UAV trajectory planning system that includes a predictor and a planner. Specifically, the system employs a bidirectional Temporal Convolutional Network (TCN) and Gated Recurrent Unit (GRU) network algorithm with an adaptive attention mechanism (BITCN-BIGRU-AAM) to train a model that incorporates the historical motion trajectory features of the target and motion intention the inferred by a Dynamic Bayesian Network (DBN). The resulting predictions of the maneuvering target are used as terminal inputs for the planner. An improved Radial Basis Function (RBF) network is utilized in combination with an offline–online trajectory planning method for real-time obstacle avoidance trajectory planning. Additionally, considering future practical applications, the predictor and planner adopt a parallel optimization and correction algorithm structure to ensure planning accuracy and computational efficiency. Simulation results indicate that the proposed method can accurately avoid dynamic interference and precisely capture the target during tasks involving dynamic interference in unknown environments and when facing intermittent target loss, while also meeting system computational capacity requirements.


    Access

    Download


    Export, share and cite



    Title :

    Intelligent Dynamic Trajectory Planning of UAVs: Addressing Unknown Environments and Intermittent Target Loss


    Contributors:
    Zhengpeng Yang (author) / Suyu Yan (author) / Chao Ming (author) / Xiaoming Wang (author)


    Publication date :

    2024




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    Unknown





    AIAA-2004-6528 Probabilistic Trajectory Planning for UAVs in Dynamic Environments

    Dogan, A. / Zengin, U. | British Library Conference Proceedings | 2004



    A Hybird Trajectory Planning Algorithm for UAVs in Cluttered Environments

    Zheng, Hongxing / Guo, Jifeng / Yan, Peng | IEEE | 2018