Route planning of unmanned aerial vehicle in post-disaster underground based on improved algorithm
In view of problems of redundant search point and poor real-time performance when encountering sudden threat existed in application of traditional algorithm in route planning of unmanned aerial vehicle in environment detection for post-disaster underground, a reverse variable weight sparse algorithm...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | zho |
| Published: |
Editorial Department of Industry and Mine Automation
2018-05-01
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| Series: | Gong-kuang zidonghua |
| Subjects: | |
| Online Access: | http://www.gkzdh.cn/article/doi/10.13272/j.issn.1671-251x.2017100058 |
| _version_ | 1797868939046289408 |
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| author | LYU Wenhong XIA Shuangshuang WEI Bowen YIN Lijie GUO Yinjing |
| author_facet | LYU Wenhong XIA Shuangshuang WEI Bowen YIN Lijie GUO Yinjing |
| author_sort | LYU Wenhong |
| collection | DOAJ |
| description | In view of problems of redundant search point and poor real-time performance when encountering sudden threat existed in application of traditional algorithm in route planning of unmanned aerial vehicle in environment detection for post-disaster underground, a reverse variable weight sparse algorithm was proposed. According to performance constraint of unmanned aerial vehicle and threat model in post-disaster underground, global static route planning is carried out from target point to start point, so as to avoid a large number of invalid searches. Different weight coefficients are set according to mission requirement of unmanned aerial vehicle, so as to obtain route focuses on distance or safety. Only the path covered by sudden threat is corrected by introducing sub-target point strategy, so as to avoid sudden threat effectively in short time. The simulation results show that the algorithm used in route planning can save time of route planning and reduce threat to unmanned aerial vehicle, which can effectively guarantee real-time performance and safety of route planning. |
| first_indexed | 2024-04-10T00:04:48Z |
| format | Article |
| id | doaj.art-b2e99690ab874d1d97afe59c60376e9c |
| institution | Directory Open Access Journal |
| issn | 1671-251X |
| language | zho |
| last_indexed | 2024-04-10T00:04:48Z |
| publishDate | 2018-05-01 |
| publisher | Editorial Department of Industry and Mine Automation |
| record_format | Article |
| series | Gong-kuang zidonghua |
| spelling | doaj.art-b2e99690ab874d1d97afe59c60376e9c2023-03-17T01:19:45ZzhoEditorial Department of Industry and Mine AutomationGong-kuang zidonghua1671-251X2018-05-01445859010.13272/j.issn.1671-251x.2017100058Route planning of unmanned aerial vehicle in post-disaster underground based on improved algorithmLYU Wenhong0XIA Shuangshuang1WEI Bowen2YIN Lijie3GUO Yinjing4College of Transportation, Shandong University of Science and Technology, Qingdao 266590, ChinaCollege of Electronic, Communication and Physics, Shandong University of Science and Technology, Qingdao 266590, China)College of Electronic, Communication and Physics, Shandong University of Science and Technology, Qingdao 266590, China)College of Electronic, Communication and Physics, Shandong University of Science and Technology, Qingdao 266590, China)College of Electronic, Communication and Physics, Shandong University of Science and Technology, Qingdao 266590, China)In view of problems of redundant search point and poor real-time performance when encountering sudden threat existed in application of traditional algorithm in route planning of unmanned aerial vehicle in environment detection for post-disaster underground, a reverse variable weight sparse algorithm was proposed. According to performance constraint of unmanned aerial vehicle and threat model in post-disaster underground, global static route planning is carried out from target point to start point, so as to avoid a large number of invalid searches. Different weight coefficients are set according to mission requirement of unmanned aerial vehicle, so as to obtain route focuses on distance or safety. Only the path covered by sudden threat is corrected by introducing sub-target point strategy, so as to avoid sudden threat effectively in short time. The simulation results show that the algorithm used in route planning can save time of route planning and reduce threat to unmanned aerial vehicle, which can effectively guarantee real-time performance and safety of route planning.http://www.gkzdh.cn/article/doi/10.13272/j.issn.1671-251x.2017100058environment detection for post-disaster undergroundunmanned aerial vehicleroute planningalgorithmreverse searchvariable weightsub-target pointsudden threat |
| spellingShingle | LYU Wenhong XIA Shuangshuang WEI Bowen YIN Lijie GUO Yinjing Route planning of unmanned aerial vehicle in post-disaster underground based on improved algorithm Gong-kuang zidonghua environment detection for post-disaster underground unmanned aerial vehicle route planning algorithm reverse search variable weight sub-target point sudden threat |
| title | Route planning of unmanned aerial vehicle in post-disaster underground based on improved algorithm |
| title_full | Route planning of unmanned aerial vehicle in post-disaster underground based on improved algorithm |
| title_fullStr | Route planning of unmanned aerial vehicle in post-disaster underground based on improved algorithm |
| title_full_unstemmed | Route planning of unmanned aerial vehicle in post-disaster underground based on improved algorithm |
| title_short | Route planning of unmanned aerial vehicle in post-disaster underground based on improved algorithm |
| title_sort | route planning of unmanned aerial vehicle in post disaster underground based on improved algorithm |
| topic | environment detection for post-disaster underground unmanned aerial vehicle route planning algorithm reverse search variable weight sub-target point sudden threat |
| url | http://www.gkzdh.cn/article/doi/10.13272/j.issn.1671-251x.2017100058 |
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