scholarly journals Robust path planning for avoiding obstacles using time-environment dynamic map

2019 ◽  
Vol 53 (1-2) ◽  
pp. 214-221 ◽  
Author(s):  
Xiaolin Zhao ◽  
Yu Zhang ◽  
Boxin Zhao
Keyword(s):  
Path Planning ◽  
Unmanned Aerial Vehicles ◽  
Urban Space ◽  
Field Of View ◽  
A Algorithm ◽  
Aerial Vehicles ◽  
Trace Back ◽  
Planning Approach ◽  
Dynamic Map ◽  
Feasible Path

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.

Comparison of 3D Versus 4D Path Planning for Unmanned Aerial Vehicles

2016 ◽  
Vol 66 (6) ◽  
pp. 651 ◽  
Author(s):  
Halil Cicibas ◽  
Kadir Alpaslan Demir ◽  
Nafiz Arica
Keyword(s):  
Path Planning ◽  
Unmanned Aerial Vehicles ◽  
Dynamic Environments ◽  
Research Model ◽  
Time Dimension ◽  
Complex Dynamic ◽  
Aerial Vehicles ◽  
Planning Approach ◽  
Spatial Dimensions ◽  
Aerial Vehicle

<p>This research compares 3D versus 4D (three spatial dimensions and the time dimension) multi-objective and multi-criteria path-planning for unmanned aerial vehicles in complex dynamic environments. In this study, we empirically analyse the performances of 3D and 4D path planning approaches. Using the empirical data, we show that the 4D approach is superior over the 3D approach especially in complex dynamic environments. The research model consisting of flight objectives and criteria is developed based on interviews with an experienced military UAV pilot and mission planner to establish realism and relevancy in unmanned aerial vehicle flight planning. Furthermore, this study incorporates one of the most comprehensive set of criteria identified during our literature search. The simulation results clearly show that the 4D path planning approach is able to provide solutions in complex dynamic environments in which the 3D approach could not find a solution.</p>

Cooperative Search and Path Planning of Multi-Unmanned Aerial Vehicles in Uncertain Environment Based on Bayes Theory

2013 ◽  
Vol 336-338 ◽  
pp. 843-846 ◽  
Author(s):  
Xia Chen ◽  
Jing Zhang ◽  
Zhen Yu Lu
Keyword(s):  
Path Planning ◽  
Physical Properties ◽  
Unmanned Aerial Vehicles ◽  
Search Theory ◽  
A Algorithm ◽  
Uncertain Environment ◽  
Aerial Vehicles ◽  
Bayes Theory ◽  
Planning Algorithm ◽  
Path Planning Algorithm

In order to solve the question of cooperative searching target in uncertain environment, this paper comes up with a algorithm. Firstly it analysis the uncertainty about measure of UAV sensors and environment, we built the information model of uncertain environment. Then, considering about UAV physical properties and optimal search theory, it designs the award function, gives the path planning algorithm of cooperative searching based on the Bayes theory. The algorithm ensures that the UAV formation could search unknown environment as far as possible, evade the known environment and avoid no-fly zone completely. Finally, the simulation proves the rationality and effectiveness of algorithm.

scholarly journals A New Dynamic Path Planning Approach for Unmanned Aerial Vehicles

Complexity ◽  
2018 ◽  
Vol 2018 ◽  
pp. 1-17 ◽  
Author(s):  
Chenxi Huang ◽  
Yisha Lan ◽  
Yuchen Liu ◽  
Wen Zhou ◽  
Hongbin Pei ◽  
...  
Keyword(s):  
Path Planning ◽  
Unmanned Aerial Vehicles ◽  
Artificial Potential Field ◽  
Aerial Vehicles ◽  
Dynamic Path Planning ◽  
Planning Approach ◽  
Starting Point ◽  
Moving Direction ◽  
Dynamic Path ◽  
The Cost

Dynamic path planning is one of the key procedures for unmanned aerial vehicles (UAV) to successfully fulfill the diversified missions. In this paper, we propose a new algorithm for path planning based on ant colony optimization (ACO) and artificial potential field. In the proposed algorithm, both dynamic threats and static obstacles are taken into account to generate an artificial field representing the environment for collision free path planning. To enhance the path searching efficiency, a coordinate transformation is applied to move the origin of the map to the starting point of the path and in line with the source-destination direction. Cost functions are established to represent the dynamically changing threats, and the cost value is considered as a scalar value of mobile threats which are vectors actually. In the process of searching for an optimal moving direction for UAV, the cost values of path, mobile threats, and total cost are optimized using ant optimization algorithm. The experimental results demonstrated the performance of the new proposed algorithm, which showed that a smoother planning path with the lowest cost for UAVs can be obtained through our algorithm.

A fast path planning approach for unmanned aerial vehicles

2014 ◽  
Vol 27 (13) ◽  
pp. 3446-3460 ◽  
Author(s):  
Shidong Li ◽  
Huihua Zhou ◽  
Jia Hu ◽  
Qing Ai ◽  
Chao Cai
Keyword(s):  
Path Planning ◽  
Unmanned Aerial Vehicles ◽  
Aerial Vehicles ◽  
Planning Approach

Cooperative Path Planning of Unmanned Aerial Vehicles

2010 ◽  
Author(s):  
Antonios Tsourdos ◽  
Brian White ◽  
Madhavan Shanmugavel
Keyword(s):  
Path Planning ◽  
Unmanned Aerial Vehicles ◽  
Aerial Vehicles

Optimal path planning with modified A-Star algorithm for stealth unmanned aerial vehicles in 3D network radar environment

2021 ◽  
pp. 095441002110073
Author(s):  
Zhe Zhang ◽  
Jian Wu ◽  
Jiyang Dai ◽  
Cheng He
Keyword(s):  
Path Planning ◽  
Unmanned Aerial Vehicles ◽  
Optimal Path ◽  
Radar System ◽  
Planning Method ◽  
Optimal Path Planning ◽  
Aerial Vehicles ◽  
3D Network ◽  
Planning Scheme ◽  
Estimation Function

For stealth unmanned aerial vehicles (UAVs), path security and search efficiency of penetration paths are the two most important factors in performing missions. This article investigates an optimal penetration path planning method that simultaneously considers the principles of kinematics, the dynamic radar cross-section of stealth UAVs, and the network radar system. By introducing the radar threat estimation function and a 3D bidirectional sector multilayer variable step search strategy into the conventional A-Star algorithm, a modified A-Star algorithm was proposed which aims to satisfy waypoint accuracy and the algorithm searching efficiency. Next, using the proposed penetration path planning method, new waypoints were selected simultaneously which satisfy the attitude angle constraints and rank-K fusion criterion of the radar system. Furthermore, for comparative analysis of different algorithms, the conventional A-Star algorithm, bidirectional multilayer A-Star algorithm, and modified A-Star algorithm were utilized to settle the penetration path problem that UAVs experience under various threat scenarios. Finally, the simulation results indicate that the paths obtained by employing the modified algorithm have optimal path costs and higher safety in a 3D complex network radar environment, which show the effectiveness of the proposed path planning scheme.

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