Three-dimensional path planning for unmanned aerial vehicles based on fluid flow

Xiao, Limin; Wang, Honglun; Li, Dawei; Liu, Chang

doi:10.1109/aero.2014.6836520

Cited by 23 publications

(17 citation statements)

References 25 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…For decades, a lot of achievements have been made to develop guidance technologies for the UAV rendezvous problem. [1][2][3] One of the most mature technologies is the classical proportional navigation guidance (PNG). 4 After that, many improved proportional navigation guidance (IPNG) schemes have been evolved based on PNG.…”

Section: Introductionmentioning

confidence: 99%

A guidance law for UAV autonomous aerial refueling based on the iterative computation method

Luo

Xie

Duan

2014

Chinese Journal of Aeronautics

View full text Add to dashboard Cite

The rendezvous and formation problem is a significant part for the unmanned aerial vehicle (UAV) autonomous aerial refueling (AAR) technique. It can be divided into two major phases: the long-range guidance phase and the formation phase. In this paper, an iterative computation guidance law (ICGL) is proposed to compute a series of state variables to get the solution of a control variable for a UAV conducting rendezvous with a tanker in AAR. The proposed method can make the control variable converge to zero when the tanker and the UAV receiver come to a formation flight eventually. For the long-range guidance phase, the ICGL divides it into two sub-phases: the correction sub-phase and the guidance sub-phase. The two sub-phases share the same iterative process. As for the formation phase, a velocity coordinate system is created by which control accelerations are designed to make the speed of the UAV consistent with that of the tanker. The simulation results demonstrate that the proposed ICGL is effective and robust against wind disturbance.

show abstract

Section: Introductionmentioning

confidence: 99%

A guidance law for UAV autonomous aerial refueling based on the iterative computation method

Luo

Xie

Duan

2014

Chinese Journal of Aeronautics

View full text Add to dashboard Cite

show abstract

“…The paths calculated by this method have the following properties. 26 (1) Except stagnation points where the velocity of the fluid is 0, paths can avoid local minima. (2) In the area far from obstacles, paths maintain the initial direction along straight line.…”

Section: Path Planning Methods Based On Fluid Computingmentioning

confidence: 99%

“…To overcome the shortcomings of analytical and numerical methods, on the basis of the method in Ref., 26 in this paper we model the complex terrain environment as spherical, conical, cylindrical and parallelepiped geometry and combinations thereof and study the analytical path planning method in the presence of obstacles in these shapes. Simulation results demonstrate that the proposed method can plan smooth path which satisfies the maneuverability constraints on UAV in complex environment.…”

Section: Introductionmentioning

confidence: 99%

Three-dimensional path planning for unmanned aerial vehicle based on interfered fluid dynamical system

Wang

Lyu

Yao

et al. 2015

Chinese Journal of Aeronautics

Self Cite

View full text Add to dashboard Cite

This paper proposes a method for planning the three-dimensional path for low-flying unmanned aerial vehicle (UAV) in complex terrain based on interfered fluid dynamical system (IFDS) and the theory of obstacle avoidance by the flowing stream. With no requirement of solutions to fluid equations under complex boundary conditions, the proposed method is suitable for situations with complex terrain and different shapes of obstacles. Firstly, by transforming the mountains, radar and anti-aircraft fire in complex terrain into cylindrical, conical, spherical, parallelepiped obstacles and their combinations, the 3D low-flying path planning problem is turned into solving streamlines for obstacle avoidance by fluid flow. Secondly, on the basis of a unified mathematical expression of typical obstacle shapes including sphere, cylinder, cone and parallelepiped, the modulation matrix for interfered fluid dynamical system is constructed and 3D streamlines around a single obstacle are obtained. Solutions to streamlines with multiple obstacles are then derived using weighted average of the velocity field. Thirdly, extra control force method and virtual obstacle method are proposed to deal with the stagnation point and the case of obstacles' overlapping respectively. Finally, taking path length and flight height as sub-goals, genetic algorithm (GA) is used to obtain optimal 3D path under the maneuverability constraints of the UAV. Simulation results show that the environmental modeling is simple and the path is smooth and suitable for UAV. Theoretical proof is also presented to show that the proposed method has no effect on the characteristics of fluid avoiding obstacles. ª 2015 Production and hosting by Elsevier Ltd. on behalf of CSAA & BUAA.

show abstract

“…Based on equation (15), we obtain the iterative scheme of four point-block iterative method that can be expressed as (16) where By adding a weighted parameter, ω, equation (16) can be rewritten as (17) Equation (17) represents the Four Point-Block SOR (4-BLSOR) iterative method. The algorithm to implement 4-BLSOR method is described below:…”

Section: Block Of Four Points Methodsmentioning

confidence: 99%

“…In the past, an exact method based on the HPFs were applied in many area of researches including ship navigation [5], trajectory control [6], space robot path planning [7], navigation of snake-like robot [8], UAV motion planning [9], marine vessel path planning [10], 3D motion planning for UAV [11,12], space exploration [13], etc. In robot navigation problem, the HPFs were successfully applied in various types of environments [14][15][16][17][18][19][20]. As an exact method, the approach based on HPFs posses the advantage of complete algorithm property to guarantee that the solutions can be found if they exist, or otherwise the algorithm can detect when no solution exists.…”

Section: Introductionmentioning

confidence: 99%

Path Planning in Structured Environment using Harmonic Potential Fields via Block Iterative Method

2017

CAFES-17, ICFCT-2017, SDMCAE-17 April 18-19, 2017 Kyoto (Japan)

View full text Add to dashboard Cite

show abstract

Three-dimensional path planning for unmanned aerial vehicles based on fluid flow

Cited by 23 publications

References 25 publications

A guidance law for UAV autonomous aerial refueling based on the iterative computation method

A guidance law for UAV autonomous aerial refueling based on the iterative computation method

Three-dimensional path planning for unmanned aerial vehicle based on interfered fluid dynamical system

Path Planning in Structured Environment using Harmonic Potential Fields via Block Iterative Method

Contact Info

Product

Resources

About