TY - GEN
T1 - Hybrid UAV path planning based on interfered fluid dynamical system and improved RRT
AU - Yao, Peng
AU - Wang, Honglun
AU - Su, Zikang
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015
Y1 - 2015
N2 - In this paper, a hybrid strategy based on interfered fluid dynamical system (IFDS) and improved rapidly-exploring random tree (IRRT) is proposed for the unmanned aerial vehicle (UAV) route planning problem in 3-dimensional complex environments. By imitating the phenomenon of fluid flow, the IFDS method can plan a smooth and safe path quickly, but the route may fall into the concave area produced by some overlapping obstacles. Hence the IFDS method is combined with IRRT, which introduces the target probability and heuristic evaluation function on the basis of the traditional RRT. In this hybrid method, the IRRT method can be adopted as the framework of route planning, where the expanding nodes can be computed by IFDS algorithm. The simulation results by different methods prove that this method is of good performance of space searching and obstacle avoidance in 3-dimensional path planning.
AB - In this paper, a hybrid strategy based on interfered fluid dynamical system (IFDS) and improved rapidly-exploring random tree (IRRT) is proposed for the unmanned aerial vehicle (UAV) route planning problem in 3-dimensional complex environments. By imitating the phenomenon of fluid flow, the IFDS method can plan a smooth and safe path quickly, but the route may fall into the concave area produced by some overlapping obstacles. Hence the IFDS method is combined with IRRT, which introduces the target probability and heuristic evaluation function on the basis of the traditional RRT. In this hybrid method, the IRRT method can be adopted as the framework of route planning, where the expanding nodes can be computed by IFDS algorithm. The simulation results by different methods prove that this method is of good performance of space searching and obstacle avoidance in 3-dimensional path planning.
KW - 3-dimensional path planning
KW - improved rapidly-exploring random tree (IRRT)
KW - interfered fluid dynamical system (IFDS)
KW - unmanned aerial vehicle (UAV)
UR - https://www.scopus.com/pages/publications/84973129587
U2 - 10.1109/IECON.2015.7392202
DO - 10.1109/IECON.2015.7392202
M3 - 会议稿件
AN - SCOPUS:84973129587
T3 - IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society
SP - 829
EP - 834
BT - IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015
Y2 - 9 November 2015 through 12 November 2015
ER -