Robust path planning for avoiding obstacles using time-environment dynamic map
Small unmanned aerial vehicles are widely used in urban space because of its flexibility and maneuverability. However, there are full of dynamic obstacles and immobile obstacles which will affect safe flying in urban space. In this paper, a novel integrated path planning approach for unmanned aerial...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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SAGE Publishing
2020-01-01
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| Series: | Measurement + Control |
| Online Access: | https://doi.org/10.1177/0020294019847704 |
| _version_ | 1811237840969793536 |
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| author | Xiaolin Zhao Yu Zhang Boxin Zhao |
| author_facet | Xiaolin Zhao Yu Zhang Boxin Zhao |
| author_sort | Xiaolin Zhao |
| collection | DOAJ |
| description | Small unmanned aerial vehicles are widely used in urban space because of its flexibility and maneuverability. However, there are full of dynamic obstacles and immobile obstacles which will affect safe flying in urban space. In this paper, a novel integrated path planning approach for unmanned aerial vehicles is presented, which is consisted of three steps. First, a time-environment dynamic map is constructed to represent obstacles by introducing time axis. Second, unmanned aerial vehicles’ flyable paths are explored based on breadth-first algorithm. Third, a path planning method using A* algorithm and local trace-back model is designed in order to discover sub-optimal feasible path rapidly in unmanned aerial vehicles’ field of view. Finally, the simulation results have illustrated that the proposed method can ensure unmanned aerial vehicles’ autonomous path planning safely and effectively in urban space crowded with obstacles. |
| first_indexed | 2024-04-12T12:31:22Z |
| format | Article |
| id | doaj.art-d8cf3069067c45f7abcf1c2f5bdd5e00 |
| institution | Directory Open Access Journal |
| issn | 0020-2940 |
| language | English |
| last_indexed | 2024-04-12T12:31:22Z |
| publishDate | 2020-01-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | Measurement + Control |
| spelling | doaj.art-d8cf3069067c45f7abcf1c2f5bdd5e002022-12-22T03:33:02ZengSAGE PublishingMeasurement + Control0020-29402020-01-015310.1177/0020294019847704Robust path planning for avoiding obstacles using time-environment dynamic mapXiaolin Zhao0Yu Zhang1Boxin Zhao2Air Force Engineering University, Xi’an, ChinaDepartment of Electronic Engineering, Tsinghua University, Beijing, ChinaAir Force Engineering University, Xi’an, ChinaSmall unmanned aerial vehicles are widely used in urban space because of its flexibility and maneuverability. However, there are full of dynamic obstacles and immobile obstacles which will affect safe flying in urban space. In this paper, a novel integrated path planning approach for unmanned aerial vehicles is presented, which is consisted of three steps. First, a time-environment dynamic map is constructed to represent obstacles by introducing time axis. Second, unmanned aerial vehicles’ flyable paths are explored based on breadth-first algorithm. Third, a path planning method using A* algorithm and local trace-back model is designed in order to discover sub-optimal feasible path rapidly in unmanned aerial vehicles’ field of view. Finally, the simulation results have illustrated that the proposed method can ensure unmanned aerial vehicles’ autonomous path planning safely and effectively in urban space crowded with obstacles.https://doi.org/10.1177/0020294019847704 |
| spellingShingle | Xiaolin Zhao Yu Zhang Boxin Zhao Robust path planning for avoiding obstacles using time-environment dynamic map Measurement + Control |
| title | Robust path planning for avoiding obstacles using time-environment dynamic map |
| title_full | Robust path planning for avoiding obstacles using time-environment dynamic map |
| title_fullStr | Robust path planning for avoiding obstacles using time-environment dynamic map |
| title_full_unstemmed | Robust path planning for avoiding obstacles using time-environment dynamic map |
| title_short | Robust path planning for avoiding obstacles using time-environment dynamic map |
| title_sort | robust path planning for avoiding obstacles using time environment dynamic map |
| url | https://doi.org/10.1177/0020294019847704 |
| work_keys_str_mv | AT xiaolinzhao robustpathplanningforavoidingobstaclesusingtimeenvironmentdynamicmap AT yuzhang robustpathplanningforavoidingobstaclesusingtimeenvironmentdynamicmap AT boxinzhao robustpathplanningforavoidingobstaclesusingtimeenvironmentdynamicmap |