Title :
Path planning of a four-rotor aircraft based on shortest path algorithm and statistical analysis
Author :
Tianwei Shi ; Hong Wang ; Fuwang Wang
Author_Institution :
Sch. of Mech. Eng. & Autom., Northeastern Univ., Shenyang, China
Abstract :
Nowadays, the four-rotor aircraft path planning is an important research subject. To control the single four-rotor aircraft, we propose a path pre-planning algorithm and integrate the shortest path algorithm and the statistical analysis method into the algorithm. According to the certainty of path planning, we set the pre-planned paths in the electronic map for 3-d coordinate as trajectories. The aircraft gets the valid data from the three-dimensional coordinate. Then it adjusts the attitude and position in real-time to complete the path planning by using the data. In this paper, the algorithm improves the aircraft control accuracy and stability. We apply the path pre-planning algorithm to the four-rotor aircraft and verify the algorithm with simulations. The results of simulations show the accuracy and feasibility of the algorithm.
Keywords :
aircraft control; attitude control; graph theory; path planning; position control; rotors; stability; statistical analysis; 3D coordinate; aircraft control accuracy; aircraft stability; attitude control; electronic map; four-rotor aircraft; path preplanning algorithm; position control; shortest path algorithm; statistical analysis; Aerospace control; Aerospace electronics; Aircraft; Algorithm design and analysis; Distance measurement; Educational institutions; Statistical analysis; four-rotor aircraft; path pre-planning algorithm; shortest path algorithm; statistic analysis;
Conference_Titel :
Fuzzy Systems and Knowledge Discovery (FSKD), 2013 10th International Conference on
Conference_Location :
Shenyang
DOI :
10.1109/FSKD.2013.6816272