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.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    UAV Path Planning With Terrain Constraints for Aerial Scanning


    Contributors:
    Yuan, Jinbiao (author) / Liu, Zhenbao (author) / Xiong, Xiaoyu (author) / Ai, Yunfeng (author) / Chen, Long (author) / Tian, Bin (author)

    Published in:

    Publication date :

    2024-01-01


    Size :

    4020817 byte




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Path planning with variable-fidelity terrain assessment

    Stenning, Braden E. / Barfoot, Timothy D. | Tema Archive | 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

    Free access

    Aerial vehicle inspection path planning

    CLARK ROBERT PARKER | European Patent Office | 2020

    Free access