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Cluster Computing

Erschienen in:

01.12.2016

Dynamic path planning based on improved boundary value problem for unmanned aerial vehicle

verfasst von: Xiao Liang, Guanglei Meng, Haitao Luo, Xia Chen

Erschienen in: Cluster Computing | Ausgabe 4/2016

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Abstract

When unmanned aerial vehicles (UAVs) track a moving target in complex environment, most path planning methods are difficult to combine real-time calculation and optimality. A real-time path planning method based on boundary value problem (BVP) is studied. First, a grid model of terrain is established based on UAV constraints. Then the structure of receding horizon planning ensures the real-time tracking to moving target, and the path is determined based on BVP in each horizon window. The sub-goal of horizon window is designed by line-of-sight, and the method of updating potential field dynamically and the calculation of flight direction are proposed. By comparison with other methods, the simulation results show that the method can ensure the path smooth and feasible. It can track the moving target in real-time and have some optimality, which is suitable for the mission of UAV to track moving target in complex environment.

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Titel: Dynamic path planning based on improved boundary value problem for unmanned aerial vehicle
verfasst von: Xiao Liang
Guanglei Meng
Haitao Luo
Xia Chen
Publikationsdatum: 01.12.2016
Verlag: Springer US
Erschienen in: Cluster Computing / Ausgabe 4/2016
Print ISSN: 1386-7857
Elektronische ISSN: 1573-7543
DOI: https://doi.org/10.1007/s10586-016-0650-1

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