Title :
Flyable path planning for multiple UAVs in complicated threat environment
Author :
Zhang Yi ; Yang Xiuxia ; Zhou Weiwei
Author_Institution :
Dept. of Control Eng., Naval Aeronaut. & Astronaut. Univ., Yantai, China
Abstract :
Autonomous planning of UAVs(Unmanned Aerial Vehicles) in complicated threat environment has an important practical significance. Based on Pythagorean Hodograph (PH) curve flyable trajectory, the online obstacles avoidance algorithm is studied. For simplification, the three-dimensional collision avoidance problem is decomposed to the horizontal and vertical planes. According to the principle of velocity obstacles, the two-dimensional obstacle avoidance method based on PH curve is given. Simulations on multiple UAVs obstacle avoidance in complicated dynamic threat environment test the validity and the practicability of the algorithm presented in this paper.
Keywords :
autonomous aerial vehicles; collision avoidance; trajectory control; PH curve flyable trajectory; Pythagorean Hodograph curve flyable trajectory; autonomous UAV planning; complicated threat environment; dynamic threat environment test; flyable path planning; horizontal planes; online obstacle avoidance algorithm; three-dimensional collision avoidance problem; two-dimensional obstacle avoidance method; vertical planes; Collision avoidance; Heuristic algorithms; Planning; Robots; Trajectory; Vehicle dynamics; Collision Avoidance; Multiple UAVs; PH curve; Path Planning; Velocity Obstacle;
Conference_Titel :
Multisensor Fusion and Information Integration for Intelligent Systems (MFI), 2014 International Conference on
Conference_Location :
Beijing
Print_ISBN :
978-1-4799-6731-5
DOI :
10.1109/MFI.2014.6997743
