Aiming at the 3-D path planning problem with an unknown and dynamic environment, this paper propose a novel path planning fusion algorithm by combining the improved sine-cosine Harris hawks optimization(SCHHO) and the rolling window method. Under the unknown environment, make full use of the local environment information detected by the unmanned aerial vehicle (UAV) system in real-time and plan the local path via the improved SCHHO in the rolling window. With “planning multi-steps and moving forward only one step,” the UAV could plan the path when flying. Experimental results showed that the proposed algorithm can effectively plan an ideal path in an unknown environment.
UAV Path Planning Based on Rolling Sine-Cosine Harris Hawks Optimization
Lect. Notes Electrical Eng.
International Conference on Autonomous Unmanned Systems ; 2022 ; Xi'an, China September 23, 2022 - September 25, 2022
Proceedings of 2022 International Conference on Autonomous Unmanned Systems (ICAUS 2022) ; Chapter : 62 ; 676-686
2023-03-10
11 pages
Article/Chapter (Book)
Electronic Resource
English
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