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

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	Dynamic path planning based on improved boundary value problem for unmanned aerial vehicle
	Liang X(梁宵); Meng GL(孟光磊); Luo HT(骆海涛); Chen X(陈侠)
刊名	Cluster Computing
	2016
卷号	19 期号:4 页码:2087–2096
关键词	Unmanned aerial vehicle (UAV) Dynamic path planning Boundary value problem (BVP) Potential field Complex environment
ISSN号	1386-7857
通讯作者	梁宵
产权排序	2
中文摘要	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.
WOS标题词	Science & Technology ; Technology
类目[WOS]	Computer Science, Information Systems ; Computer Science, Theory & Methods
研究领域[WOS]	Computer Science
收录类别	SCI ; EI
语种	英语
WOS记录号	WOS:000388972000030
内容类型	期刊论文
源URL	[http://ir.sia.cn/handle/173321/19235]
专题	沈阳自动化研究所_空间自动化技术研究室
推荐引用方式 GB/T 7714	Liang X,Meng GL,Luo HT,et al. Dynamic path planning based on improved boundary value problem for unmanned aerial vehicle[J]. Cluster Computing,2016,19(4):2087–2096.
APA	Liang X,Meng GL,Luo HT,&Chen X.(2016).Dynamic path planning based on improved boundary value problem for unmanned aerial vehicle.Cluster Computing,19(4),2087–2096.
MLA	Liang X,et al."Dynamic path planning based on improved boundary value problem for unmanned aerial vehicle".Cluster Computing 19.4(2016):2087–2096.