TY - GEN
T1 - Track planning methods for unmanned aerial vehicles based on double-rolling windows
AU - Li, Yunhe
AU - Xiong, Jiaxin
AU - Zhang, Qinyu
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/11/14
Y1 - 2017/11/14
N2 - As a fundamental technique for cruise of unmanned aerial vehicles, track planning is critical for these vehicles to reach their destinations safely without any collision and along tracks within the minimum time. In this paper, a track planning method based on double-rolling windows that integrates global and local planning is proposed for unmanned aerial vehicles under dynamic and uncertain environment. For global planning, roadmaps are modeled according to known global environmental information to search the optimal tracks. Concerning local planning, unmanned aerial vehicles fly along searched global track points, while their tracks are constantly corrected and optimized with fast algorithms according to detailed environmental information that is detected on a realtime basis. By making full use of global priori information and detected real-time information, the track planning method based on double-rolling windows may not only guarantee optimal tracks for unmanned aerial vehicles, but also adapts to dynamic changes to environment and tasks for the purpose of rolling optimization. After simulation and analysis, this method is proven to be effective and feasible for track planning under predetermined environment.
AB - As a fundamental technique for cruise of unmanned aerial vehicles, track planning is critical for these vehicles to reach their destinations safely without any collision and along tracks within the minimum time. In this paper, a track planning method based on double-rolling windows that integrates global and local planning is proposed for unmanned aerial vehicles under dynamic and uncertain environment. For global planning, roadmaps are modeled according to known global environmental information to search the optimal tracks. Concerning local planning, unmanned aerial vehicles fly along searched global track points, while their tracks are constantly corrected and optimized with fast algorithms according to detailed environmental information that is detected on a realtime basis. By making full use of global priori information and detected real-time information, the track planning method based on double-rolling windows may not only guarantee optimal tracks for unmanned aerial vehicles, but also adapts to dynamic changes to environment and tasks for the purpose of rolling optimization. After simulation and analysis, this method is proven to be effective and feasible for track planning under predetermined environment.
KW - Ant colony algorithm
KW - Double-rolling windows
KW - Probabilistic map algorithm
KW - Rapidly-exploring random trees
KW - Track planning
UR - https://www.scopus.com/pages/publications/85040567958
U2 - 10.1109/ICISCE.2017.367
DO - 10.1109/ICISCE.2017.367
M3 - 会议稿件
AN - SCOPUS:85040567958
T3 - Proceedings - 2017 4th International Conference on Information Science and Control Engineering, ICISCE 2017
SP - 1757
EP - 1763
BT - Proceedings - 2017 4th International Conference on Information Science and Control Engineering, ICISCE 2017
A2 - Dai, Ying
A2 - Li, Shaozi
A2 - Cheng, Yun
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 4th International Conference on Information Science and Control Engineering, ICISCE 2017
Y2 - 21 July 2017 through 23 July 2017
ER -