A geometrical path planning method for unmanned aerial vehicle in 2D/3D complex environment

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 空间自动化技术研究室

	A geometrical path planning method for unmanned aerial vehicle in 2D/3D complex environment
	Liang X(梁宵)3; Xu, Yimin 2; Luo HT(骆海涛)1; Meng GL(孟光磊)3; Li ZQ(理中强); Liu YW(刘玉旺)
刊名	INTELLIGENT SERVICE ROBOTICS
	2018
卷号	11 期号:3 页码:301-312
关键词	Unmanned aerial vehicle (UAV) Path planning Geometrical shortest path 2D/3D complex environment Convex obstacles Optimal and real-time planning
ISSN号	1861-2776
通讯作者	Liang X(梁宵)
产权排序	3
中文摘要	This paper presents a geometrical path planning method, and it can help unmanned aerial vehicle to find a collision-free path in two-dimensional and three-dimensional (2D and 3D) complex environment quickly. First, a list of tree is designed to describe obstacles, and it is used to query the obstacles which block the line from starting point to finishing point (blocking obstacle). Specially, the list also stores the edge information of blocking obstacle. For the obstacles with short distance, a reasonable way to fly over is studied. Then, a shortest path planning method based on geometrical computation is proposed according to different shapes of obstacles. The obstacles are convex and divided into two cases of 2D and 3D. 2D environment includes rectangular obstacle, trapezoidal obstacle, triangular obstacle, circular obstacle and elliptic obstacle. In 3D, it includes cuboid, sphere and ellipsoid. To compare with other methods, the simulation is made in different environments. In 2D environment with circular obstacles, the method is similar to the artificial potential field. In 2D environment with rectangular obstacles, the performance of the proposed method is better than A-star. Compared with genetic algorithm, the proposed method gives a better result in 3D environment with cuboid obstacles. In 3D environment with hybrid obstacles, it is similar to interfered fluid dynamical system. Through comprehensive comparison and analysis, the conclusion is that the method has good adaptability and does not require grid modeling. It can find a shorter path in 2D/3D complex environment within a short time, so it has the ability of real-time path planning.
收录类别	SCI ; EI
语种	英语
WOS记录号	WOS:000435825400007
内容类型	期刊论文
源URL	[http://ir.sia.cn/handle/173321/22192]
专题	沈阳自动化研究所_空间自动化技术研究室
作者单位	1.Shenyang Institute of Automation, Chinese Academy of Sciences, Nanta Street No.114, Shenhe District, Shenyang, Liaoning 110016, China 2.School of Automation, Northwestern Polytechnical University, Chang’an Campus of Northwest Polytechnical University, Dongxiang Street No.1, Chang’an District, Xi’an, Shanxi 710129, China 3.School of Automation, Shenyang Aerospace University, South DaoYi Street No.37, ShenBei New District, Shenyang, Liaoning 110136, China
推荐引用方式 GB/T 7714	Liang X,Xu, Yimin,Luo HT,et al. A geometrical path planning method for unmanned aerial vehicle in 2D/3D complex environment[J]. INTELLIGENT SERVICE ROBOTICS,2018,11(3):301-312.
APA	Liang X,Xu, Yimin,Luo HT,Meng GL,理中强,&刘玉旺.(2018).A geometrical path planning method for unmanned aerial vehicle in 2D/3D complex environment.INTELLIGENT SERVICE ROBOTICS,11(3),301-312.
MLA	Liang X,et al."A geometrical path planning method for unmanned aerial vehicle in 2D/3D complex environment".INTELLIGENT SERVICE ROBOTICS 11.3(2018):301-312.