TY - GEN
T1 - Improved PRM method of low altitude penetration trajectory planning for UAVs
AU - Li, Qianru
AU - Wei, Chen
AU - Wu, Jiang
AU - Zhu, Xiaofang
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2015/1/12
Y1 - 2015/1/12
N2 - In this paper, an improved probabilistic roadmap (PRM) method of low altitude penetration trajectory planning for UAVs is proposed. This approach generates a reference trajectory by constructing a roadmap firstly and searching it secondly before the take-off of UAV. During the roadmap construction process, the traditional randomized sampling method is improved by new kinds of sampling methods, in which information of terrain and threats is fully used so that the roadmap can avoid terrain and threats as well as follow the terrain automatically. During the search process, A∗algorithm is used to search for a trajectory and UAVs dynamic constraints are considered in the search process to guarantee that the trajectory is feasible. The simulation results demonstrated that the improved method can achieve a desirable trajectory in the low altitude penetration tasks.
AB - In this paper, an improved probabilistic roadmap (PRM) method of low altitude penetration trajectory planning for UAVs is proposed. This approach generates a reference trajectory by constructing a roadmap firstly and searching it secondly before the take-off of UAV. During the roadmap construction process, the traditional randomized sampling method is improved by new kinds of sampling methods, in which information of terrain and threats is fully used so that the roadmap can avoid terrain and threats as well as follow the terrain automatically. During the search process, A∗algorithm is used to search for a trajectory and UAVs dynamic constraints are considered in the search process to guarantee that the trajectory is feasible. The simulation results demonstrated that the improved method can achieve a desirable trajectory in the low altitude penetration tasks.
UR - https://www.scopus.com/pages/publications/84922575083
U2 - 10.1109/CGNCC.2014.7007587
DO - 10.1109/CGNCC.2014.7007587
M3 - 会议稿件
AN - SCOPUS:84922575083
T3 - 2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014
SP - 2651
EP - 2656
BT - 2014 IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 6th IEEE Chinese Guidance, Navigation and Control Conference, CGNCC 2014
Y2 - 8 August 2014 through 10 August 2014
ER -