UAV feasible path planning based on disturbed fluid and trajectory propagation

Yao, Ping; Wang, Honglun; Su, Zikang

doi:10.1016/j.cja.2015.06.014

Cited by 80 publications

(33 citation statements)

References 26 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In Figure 4(a), Property I indicates that the subgoal S must be in the shortest path between P 2 and E. e role of the subgoal of P 2 is to drive and force E so that the situation is more beneficial to pursuers. When P 1 performs 3D interception, the subgoal of P 1 can be obtained according to our previous works [31,32]. Figure 4(b) shows the calculation of a 3D subgoal by taking a cuboid obstacle as an example.…”

Section: Complexitymentioning

confidence: 99%

Collaborative Pursuit-Evasion Strategy of UAV/UGV Heterogeneous System in Complex Three-Dimensional Polygonal Environment

2020

Self Cite

View full text Add to dashboard Cite

The UAV/UGV heterogeneous system combines the air superiority of UAV (unmanned aerial vehicle) and the ground superiority of UGV (unmanned ground vehicle). The system can complete a series of complex tasks and one of them is pursuit-evasion decision, so a collaborative strategy of UAV/UGV heterogeneous system is proposed to derive a pursuit-evasion game in complex three-dimensional (3D) polygonal environment, which is large enough but with boundary. Firstly, the system and task hypothesis are introduced. Then, an improved boundary value problem (BVP) is used to unify the terrain data of decision and path planning. Under the condition that the evader knows the position of collaborative pursuers at any time but pursuers just have a line-of-sight view, a worst case is analyzed and the strategy between the evader and pursuers is studied. According to the state of evader, the strategy of collaborative pursuers is discussed in three situations: evader is in the visual field of pursuers, evader just disappears from the visual field of pursuers, and the position of evader is completely unknown to pursuers. The simulation results show that the strategy does not guarantee that the pursuers will win the game in complex 3D polygonal environment, but it is optimal in the worst case.

show abstract

Section: Complexitymentioning

confidence: 99%

Collaborative Pursuit-Evasion Strategy of UAV/UGV Heterogeneous System in Complex Three-Dimensional Polygonal Environment

2020

Self Cite

View full text Add to dashboard Cite

show abstract

“…have made milestone research. Both UAVs obstacle avoidance in the static environment [4] and collaborative in the complex dynamic environment [5], [6], they have carried out in-depth studies and got great achievement. These studies make us more aware that there are many uncontrollable factors that affect the performance of multi-UAVs and realize the importance of autonomous control of UAVs.…”

Section: Introductionmentioning

confidence: 99%

A Method of Trajectory Planning for Unmanned Aerial Vehicle Formation Based on Fluid Dynamic Model

2020

View full text Add to dashboard Cite

This paper mainly studies the obstacle avoidance and rapid reconstruction of UAV formations. A hybrid trajectory planning algorithm based on potential field fluid dynamic model and bidirectional fast search random tree is proposed to improve the ability of UAV formation to adapt to complex dynamic environment. Firstly, a dynamic system mathematical model based on fluid potential energy field is proposed; and the obstacle potential energy function and potential energy function between the formations modify the disturbance flow field. Secondly, IBi-directional Rapidly Exploring Random Tree (IBi-RRT) algorithm with adaptive step size is scheduled to solve the dispersive and convergent streamlines of disturbed flow field and to plan the trajectory. This method can clarify the flow field streamlines by adaptive step size combined with rolling detection method, which greatly improves the formation's ability to avoid dynamic threats. The experimental results show that the proposed improved fluid potential energy field dynamic system and IBi-RRT hybrid trajectory planning algorithm with adaptive step size can effectively improve the adaptive ability of UAV formation to the dynamic environment, and can plan the ideal trajectory in response to unexpected situations. INDEX TERMS Complex environment, fluid potential energy field, obstacles avoidance, sudden threats.

show abstract

“…Therefore, the environmental constraints on UAVs should be taken into account in the problem of collision avoidance. To this end, many important results to ensure the path quality, mission efficiency and cooperation have been provided, such as model predictive control (MPC) [18~19], guidance vector fields method [20], potential field-based method [21~22], rapidly exploring random tree (RRT) [23] and interfered fluid dynamical system (IFDS) [24]. Sara et al [25] design a minimum time search planned based on a colony algorithm that includes communication and collision avoidance constraints.…”

Section: Introductionmentioning

confidence: 99%

Hierarchical Collaboration Approach for Tracking of Flying Target by UAVs

Zhang

Yue

et al. 2020

IEEE Access

View full text Add to dashboard Cite

This paper investigates a hierarchical target tracking method based on the collaboration of unmanned aerial vehicles (UAVs) at different altitudes. To enhance the target tracking range, the highaltitude UAVs monitor the wide area, and transmit their surveillance information to low-altitude UAVs which directly detect and collect information about the target's movements. The contributions of this paper are threefold: First, to track the flying target in a dynamic environment, a modified Lyapunov guidance vector field (LGVF) method is used to plan velocities for UAVs, where a time-varying vertical component is incorporated into the traditional LGVF function to satisfy the constraints of cluster communication. Secondly, a three-dimensional local collision-free guidance vector field (TLCGVF) method is proposed for UAVs to plan collision-free paths on line. To simultaneously track the target and avoid obstacles, the vector field by LGVF is used as the original vector field of TLCGVF. Thirdly, the rolling optimization strategy is used to adjust the reactive parameters of TLCGVF to enhance the path quality. The simulation results confirm the feasibility of the above approach.

show abstract

UAV feasible path planning based on disturbed fluid and trajectory propagation

Cited by 80 publications

References 26 publications

Collaborative Pursuit-Evasion Strategy of UAV/UGV Heterogeneous System in Complex Three-Dimensional Polygonal Environment

Collaborative Pursuit-Evasion Strategy of UAV/UGV Heterogeneous System in Complex Three-Dimensional Polygonal Environment

A Method of Trajectory Planning for Unmanned Aerial Vehicle Formation Based on Fluid Dynamic Model

Hierarchical Collaboration Approach for Tracking of Flying Target by UAVs

Contact Info

Product

Resources

About