Path Planning of Rotorcrafts in Unknown Environment

被引：0

作者：

Lai Shupeng ^{[1
]}

Wang Kangli ^{[2
]}

Li Kun ^{[2
]}

Chen, Ben M. ^{[2
]}

机构：

[1] NUS, NUS Grad Sch Integrat Sci & Engn, Singapore 117456, Singapore

[2] Natl Univ Singapore, Dept Elect & Comp Engn, Singapore 117582, Singapore

来源：

PROCEEDINGS OF THE 35TH CHINESE CONTROL CONFERENCE 2016 | 2016年

关键词：

Path planning; Trajectory generation; Rotorcraft;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, we introduced an online path planning method which is able to be implemented on micro rotorcrafts with limited payload and computational power. The method enables automatic flight of such vehicles in GPS-denied and obstaclestrewn environments by adopting efficient trajectory generation algorithms. A series of two point boundary value problem (TPBVP) is solved analytically to formulate the overall path. Advantages of the proposed approach includes its stability and efficiency thanks to the closed-form solution to each trajectory segment. The result has been realized and demonstrated on real rotorcrafts. The video of flight tests can be found at: http://uav.ece.nus.edu.sg/robust-online-path-planning-Lai2015.html

引用

页码：10900 / 10905

页数：6

共 50 条

[31] Intelligent cooperative exploration path planning for UAV swarm in an unknown environment
Wang W.
You M.
Sun L.
Zhang X.
Zong Q.
Gongcheng Kexue Xuebao/Chinese Journal of Engineering, 2024, 46 (07): : 1197 - 1206
[32] Path Planning of Maritime Autonomous Surface Ships in Unknown Environment with Reinforcement Learning
Wang, Chengbo
Zhang, Xinyu
Li, Ruijie
Dong, Peifang
COGNITIVE SYSTEMS AND SIGNAL PROCESSING, PT II, 2019, 1006 : 127 - 137
[33] A path planning algorithm for unmanned surface vessel with pose constraints in an unknown environment
Yu, Jiabin
Chen, Yang
Yang, Meng
Chen, Zhihao
Xu, Jiping
Lu, Yang
Zhao, Zhiyao
INTERNATIONAL JOURNAL OF NAVAL ARCHITECTURE AND OCEAN ENGINEERING, 2024, 16
[34] Scan matching online cell decomposition for coverage path planning in an unknown environment
Batsaikhan Dugarjav
Soon-Geul Lee
Donghan Kim
Jong Hyeong Kim
Nak Young Chong
International Journal of Precision Engineering and Manufacturing, 2013, 14 : 1551 - 1558
[35] An Improvement of D* algorithm for Mobile Robot Path Planning in Partial Unknown Environment
Guo, Jianming
Liu, Liang
Liu, Qing
Qu, Yongyu
ICICTA: 2009 SECOND INTERNATIONAL CONFERENCE ON INTELLIGENT COMPUTATION TECHNOLOGY AND AUTOMATION, VOL III, PROCEEDINGS, 2009, : 394 - 397
[36] Path Planning for Two-Link Navigation in an Unknown Environment using webcam
Shojaeipour, Shahed
Sedigh, Ali Khaki
Shojaeipour, Ali
Weng, Edmund Ng Giap
Hadavi, Nooshin
ROBOTICS AND AUTOMATION SYSTEMS, 2010, 166-167 : 369 - +
[37] Path Planning of Robotic Fish in Unknown Environment with Improved Reinforcement Learning Algorithm
Hu, Jingbo
Mei, Jie
Chen, Dingfang
Li, Lijie
Cheng, Zhengshu
INTERNET AND DISTRIBUTED COMPUTING SYSTEMS, 2018, 11226 : 248 - 257
[38] UAV Dynamic Path Planning Based on Obstacle Position Prediction in an Unknown Environment
Feng, Jianxin
Zhang, Jingze
Zhang, Geng
Xie, Shuang
Ding, Yuanming
Liu, Zhiguo
IEEE ACCESS, 2021, 9 : 154679 - 154691
[39] A HYBRID METAHEURISTIC NAVIGATION ALGORITHM FOR ROBOT PATH ROLLING PLANNING IN AN UNKNOWN ENVIRONMENT
Xu, Shoujiang
Ho, Edmond S. L.
Shum, Hubert P. H.
MECHATRONIC SYSTEMS AND CONTROL, 2019, 47 (04): : 216 - 224
[40] Path planning in unknown environment for mobile robots based on improved bayes and PSO
North China University of Water Resources and Electric Power, Henan, 450045, Zhengzhou, China
Zhao, K., 1600, Asian Network for Scientific Information (12):

← 1 2 3 4 5 →