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Cluster Computing
Published in: Cluster Computing 4/2016

01-12-2016

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

Authors: Xiao Liang, Guanglei Meng, Haitao Luo, Xia Chen

Published in: Cluster Computing | Issue 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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Metadata
Title
Dynamic path planning based on improved boundary value problem for unmanned aerial vehicle
Authors
Xiao Liang
Guanglei Meng
Haitao Luo
Xia Chen
Publication date
01-12-2016
Publisher
Springer US
Published in
Cluster Computing / Issue 4/2016
Print ISSN: 1386-7857
Electronic ISSN: 1573-7543
DOI
https://doi.org/10.1007/s10586-016-0650-1

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