scholarly journals Online trajectory planning for UCAV performing ground attacks based on threat modeling

2021 ◽  
Vol 39 (2) ◽  
pp. 382-391
Author(s):  
Jiayu Tang ◽  
Xiangmin Li ◽  
Jinjin Dai
Keyword(s):  
Trajectory Planning ◽  
Aerodynamic Characteristics ◽  
Planning Method ◽  
Planning Problem ◽  
Threat Modeling ◽  
Performance Constraints ◽  
Engine Thrust ◽  
Online Planning ◽  
Aerial Vehicle ◽  
Kinematic Models

The paper studies how to plan the trajectories of an unmanned combat aerial vehicle (UCAV) that releases its airborne weapons and presents an online trajectory planning method based on threat modeling. Firstly, it analyzes the aerodynamic characteristics, engine thrust and fuel characteristics of the UCAV and builds its dynamic and kinematic models. Secondly, the trajectory planning model of the UCAV is formulated with flight performance constraints and battlefield threat constraints considered. To improve the accuracy of ground attacks, the envelope of a guided bomb's acceptable region of weapon release is studied, and the release center and posture of the guided bomb work as terminal planning conditions. Thirdly, an online trajectory planning method is proposed. With the help of threat modeling, the complicated trajectory planning problem is transformed into a simplified situation classification. Finally, the simulation results demonstrate that the online planning method proposed in the paper can provide feasible trajectories for a UCAV to succeed in releasing its airborne weapons.

Trajectory Planning for Concrete Pump Truck Based on Intelligent Hill Climbing and Genetic Algorithm

2011 ◽  
Vol 127 ◽  
pp. 360-367 ◽  
Author(s):  
Xiao Dong Kang ◽  
Gang Huang ◽  
Xian Li Cao ◽  
Xiang Zhou
Keyword(s):  
Genetic Algorithm ◽  
Trajectory Planning ◽  
Performance Comparison ◽  
Hill Climbing ◽  
Planning Problem ◽  
Online Planning ◽  
And Performance ◽  
Concrete Pump Truck ◽  
Concrete Pump ◽  
Constrained Conditions

This paper takes the five –link concrete pump boom as the research object, and transforms its trajectory planning issue into a multi-object optimization problem. Using intelligent hill climbing algorithm and genetic algorithm, and integrating them closely to ensure real-time online planning for the pump truck effectively, and make the planned motion trajectory for the boom is global optimized under particular constrained conditions. Simulation and performance comparison experiments show that this hybrid algorithm is practical and effective, which offers a new approach for the trajectory planning problem of concrete pump truck.

Optimizing the lay-up of composite tapes based on improved geodesic strategy for automated tape placement

2017 ◽  
Vol 232 (22) ◽  
pp. 4084-4097
Author(s):  
Peng Zhang ◽  
Zhenhua Zhou ◽  
Gengbiao Chen ◽  
Shuhan Chen
Keyword(s):  
Composite Materials ◽  
Unmanned Aerial Vehicle ◽  
Trajectory Planning ◽  
Planning Method ◽  
Limiting Factors ◽  
Manufacturing Costs ◽  
Complex Contour ◽  
Composite Tape ◽  
Aerial Vehicle ◽  
The Relationship

The use of composite materials in aerospace, automotive and ship industry allows manufacturing lighter and more efficient mechanical structures. The major limiting factors are the high-manufacturing costs and low-production rates. Automated tape placement is one alternative process to overcome the limiting factors. Due to the complex contour of the mandrel, the lay-up paths of the contiguous tapes are not parallel along their lengths, which eventually introduce gaps or overlaps between the edges of tapes. Overlaps and excessive gaps are undesirable as they will decrease the strength of the resulting composite member. In this paper, a novel trajectory planning method for automated tape placement, entitled improved geodesic strategy, is proposed. The strategy aims to optimize the relationship between adjacent tapes. At the same time, the distortion of composite tape is also specified in order to prevent wrinkling. The principle and characteristic of the algorithm are presented. The method is investigated on the airfoil of an unmanned aerial vehicle and some of the results are presented in this paper.

scholarly journals Online Trajectory Planning Method for Double-Pendulum Quadrotor Transportation Systems

Electronics ◽  
2021 ◽  
Vol 11 (1) ◽  
pp. 50
Author(s):  
Juntong Qi ◽  
Yuan Ping ◽  
Mingming Wang ◽  
Chong Wu
Keyword(s):  
Trajectory Planning ◽  
Transportation Systems ◽  
Planning Method ◽  
Stability And Convergence ◽  
Planning Problem ◽  
Double Pendulum ◽  
Precise Positioning ◽  
Excellent Control ◽  
The Stability ◽  
Invariance Theory

This study investigates the trajectory planning problem for double-pendulum quadrotor transportation systems. The goal is to restrain the hook swing and payload swing while achieving precise positioning. An online trajectory planning method with two capabilities—precise positioning and swing suppression—is proposed. The stability and convergence of the system are proved using the Lyapunov principle and the LaSalle’s invariance theory. Simulation results show that the proposed method has excellent control performance.

scholarly journals A Trajectory Planning Method for Autonomous Valet Parking via Solving an Optimal Control Problem

Sensors ◽  
2020 ◽  
Vol 20 (22) ◽  
pp. 6435
Author(s):  
Chen Chen ◽  
Bing Wu ◽  
Liang Xuan ◽  
Jian Chen ◽  
Tianxiang Wang ◽  
...  
Keyword(s):  
Optimal Control ◽  
Optimal Control Problem ◽  
Control Problem ◽  
Trajectory Planning ◽  
Pseudospectral Method ◽  
Initial Guess ◽  
Planning Method ◽  
Planning Problem ◽  
Starting Position ◽  
Dynamic Obstacle Avoidance

In the last decade, research studies on parking planning mainly focused on path planning rather than trajectory planning. The results of trajectory planning are more instructive for a practical parking process. Therefore, this paper proposes a trajectory planning method in which the optimal autonomous valet parking (AVP) trajectory is obtained by solving an optimal control problem. Additionally, a vehicle kinematics model is established with the consideration of dynamic obstacle avoidance and terminal constraints. Then the parking trajectory planning problem is modeled as an optimal control problem, while the parking time and driving distance are set as the cost function. The homotopic method is used for the expansion of obstacle boundaries, and the Gauss pseudospectral method (GPM) is utilized to discretize this optimal control problem into a nonlinear programming (NLP) problem. In order to solve this NLP problem, sequential quadratic programming is applied. Considering that the GPM is insensitive to the initial guess, an online calculation method of vertical parking trajectory is proposed. In this approach, the offline vertical parking trajectory, which is calculated and stored in advance, is taken as the initial guess of the online calculation. The selection of an appropriate initial guess is based on the actual starting position of parking. A small parking lot is selected as the verification scenario of the AVP. In the validation of the algorithm, the parking trajectory planning is divided into two phases, which are simulated and analyzed. Simulation results show that the proposed algorithm is efficient in solving a parking trajectory planning problem. The online calculation time of the vertical parking trajectory is less than 2 s, which meets the real-time requirement.

scholarly journals Online Cooperative Trajectory Planning for UCAV Formation in Uncertain Environment

2018 ◽  
Vol 36 (6) ◽  
pp. 1145-1155
Author(s):  
Yuan Wang ◽  
Zhenglei Wei ◽  
Changqiang Huang ◽  
Hanqiao Huang ◽  
Kexin Zhao ◽  
...  
Keyword(s):  
Trajectory Planning ◽  
Pseudospectral Method ◽  
Planning Method ◽  
Local Planning ◽  
State Information ◽  
Uncertain Environment ◽  
Precise Control ◽  
Online Planning ◽  
Task Time ◽  
Simulation Results

This paper presents a local online planning method based on hp adaptive pseudospectral method to address the cooperative trajectory planning of UCAV formation in uncertain environment. First, through analyzing attacking process of UCAV formation, the cooperative trajectory planning model is built up by taking UCAV threat, task time and the number of collision and the error of ordered time as the object function. Second, in order to solve the online cooperative trajectory planning, according to real-time environment information and offline planning data, the local planning method based on hp adaptive pseudospectral method is proposed during optimizing time slice. Last but not least, the simulation results for offline and online cooperative trajectory show that the proposed method is valid and can provide cooperative trajectory with high precise control and state information.

Cuckoo search-based method for trajectory planning of quadrotor in an urban environment

2019 ◽  
Vol 233 (12) ◽  
pp. 4571-4582 ◽  
Author(s):  
Hanjie Hu ◽  
Yu Wu ◽  
Jinfa Xu ◽  
Qingyun Sun
Keyword(s):  
Urban Environment ◽  
Trajectory Planning ◽  
Cuckoo Search ◽  
General Idea ◽  
Planning Problem ◽  
Safety Level ◽  
Planning Algorithm ◽  
Aerial Vehicle ◽  
Express Industry ◽  
Easy Operation

Express by micro aerial vehicle (MAV) becomes more and more popular because it can avoid the influence of terrain and save more space for taking-off and landing of aircraft. At present, quadrotor is often used in the express industry due to its flexibility and easy operation, and the flight trajectory plays an important role in the efficiency and safety level of express service. In this paper, the trajectory planning problem is studied for quadrotor delivering goods in urban environment with the purpose of avoiding the heavy ground traffic, and a cuckoo search (CS)-based trajectory planning method is proposed to solve the problem. First, a conceptual model containing all the key elements of the delivery task is developed, which presents a general idea of solving the problem. Some characteristics of the urban environment and the delivery task, such as the wind field, dense buildings and inclination of shipped goods, are taken into account in the trajectory planning model. The goal of the delivery task is to make the goods reach the destination accurately. When designing the CS-based trajectory planning algorithm, the basics of CS algorithm are explained, and then it is integrated into the trajectory planning problem. Comparative experiments are carried out to investigate the superiority of the proposed method, and the influences of parameters in CS algorithm are also discussed to conclude its performance in trajectory planning problem.

scholarly journals Trajectory planning of unmanned aerial vehicle based on the improved biogeography-based optimization algorithm

2021 ◽  
Vol 13 (3) ◽  
pp. 168781402110042
Author(s):  
Zhishuang Xue ◽  
Xiaofang Liu
Keyword(s):  
Unmanned Aerial Vehicle ◽  
Trajectory Planning ◽  
Optimization Algorithm ◽  
Three Dimensional ◽  
Electricity Consumption ◽  
Lyapunov Theory ◽  
Planning Problem ◽  
Reference Trajectory ◽  
Control Scheme ◽  
Aerial Vehicle

This paper is concerned with trajectory planning for unmanned aerial vehicle in a three-dimensional complex workspace. Biogeography-based optimization algorithm is widely used in solving practical problems because of its fewer parameters, fast convergence rate, and good global optimization ability. In this paper, some improvements, modifying migration and mutation operations are made on the biogeography-based optimization algorithm to make it suitable for solving the trajectory planning problem. The optimal trajectory obtained by the improved algorithm can be used to generate the reference trajectory. Then, a control scheme of unmanned aerial vehicle based on the Lyapunov theory and radial basis function neural network is formed to track the reference trajectory. The improved trajectory algorithm generates the shortest trajectory and the time consumption is the lowest. Finally, the designed control scheme makes the unmanned aerial vehicle track the different trajectories quite well, the effectiveness of it can be illustrated by algorithm accuracy and electricity consumption.

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